Added traverse code.
Change-Id: I22ab8c9133a7b646be4dd06a5aa90aa27a570918
diff --git a/y2016/control_loops/superstructure/superstructure.cc b/y2016/control_loops/superstructure/superstructure.cc
index e85657c..97fe0dd 100644
--- a/y2016/control_loops/superstructure/superstructure.cc
+++ b/y2016/control_loops/superstructure/superstructure.cc
@@ -659,6 +659,8 @@
output->voltage_bottom_rollers = ::std::max(
-kMaxIntakeBottomVoltage,
::std::min(unsafe_goal->voltage_bottom_rollers, kMaxIntakeBottomVoltage));
+ output->traverse_unlatched = unsafe_goal->traverse_unlatched;
+ output->traverse_down = unsafe_goal->traverse_down;
}
}
diff --git a/y2016/control_loops/superstructure/superstructure.q b/y2016/control_loops/superstructure/superstructure.q
index 5d17fb6..f550512 100644
--- a/y2016/control_loops/superstructure/superstructure.q
+++ b/y2016/control_loops/superstructure/superstructure.q
@@ -64,6 +64,12 @@
// Voltage to send to the rollers. Positive is sucking in.
float voltage_top_rollers;
float voltage_bottom_rollers;
+
+ // If true, release the latch which holds the traverse mechanism in the
+ // middle.
+ bool traverse_unlatched;
+ // If true, fire the traverse mechanism down.
+ bool traverse_down;
};
message Status {
@@ -109,6 +115,11 @@
float voltage_top_rollers;
float voltage_bottom_rollers;
+
+ // If true, release the latch to hold the traverse mechanism in the middle.
+ bool traverse_unlatched;
+ // If true, fire the traverse mechanism down.
+ bool traverse_down;
};
queue Goal goal;