Add target selection based on buttons + mode
This makes ball vs hatch mode discriminate among targets on the rocket,
and adds buttons to control which target on the cargo ship we go for.
Also, add new color to indicate that we have a target (purple flashing).
Change-Id: Ifc734c8168a1814511dea95abc361eb13383f597
diff --git a/y2019/control_loops/drivetrain/camera_test.cc b/y2019/control_loops/drivetrain/camera_test.cc
index 347e84c..f9b6e8d 100644
--- a/y2019/control_loops/drivetrain/camera_test.cc
+++ b/y2019/control_loops/drivetrain/camera_test.cc
@@ -8,7 +8,8 @@
// Check that a Target's basic operations work.
TEST(TargetTest, BasicTargetTest) {
- Target target({{1, 2, 3}, M_PI / 2.0}, 1.234, Target::GoalType::kHatches);
+ Target target({{1, 2, 3}, M_PI / 2.0}, 1.234,
+ Target::TargetType::kFaceCargoBay, Target::GoalType::kHatches);
EXPECT_EQ(1.0, target.pose().abs_pos().x());
EXPECT_EQ(2.0, target.pose().abs_pos().y());
@@ -16,6 +17,7 @@
EXPECT_EQ(M_PI / 2.0, target.pose().abs_theta());
EXPECT_EQ(1.234, target.radius());
EXPECT_EQ(Target::GoalType::kHatches, target.goal_type());
+ EXPECT_EQ(Target::TargetType::kFaceCargoBay, target.target_type());
EXPECT_FALSE(target.occluded());
target.set_occluded(true);