Added shooter spinup wait state machine.
Change-Id: Ie4ee7dff2706c780b72d10951d63756addc37aa7
diff --git a/y2016/control_loops/shooter/shooter.q b/y2016/control_loops/shooter/shooter.q
index e0b4531..5559bbb 100644
--- a/y2016/control_loops/shooter/shooter.q
+++ b/y2016/control_loops/shooter/shooter.q
@@ -23,7 +23,11 @@
double angular_velocity;
bool clamp_open; // True to release our clamp on the ball.
- bool push_to_shooter; // True to push the ball into the shooter.
+ // True to push the ball into the shooter.
+ // If we are in the act of shooting with a goal velocity != 0, wait until it
+ // is up to speed, push the ball into the shooter, and then wait until it
+ // spins up and down before letting the piston be released.
+ bool push_to_shooter;
};
message Position {