Modify third robot code at Madera.
This is the code that was running on 9971 by the end of the
copetition. It's a little kludgy, (mainly the work-arounds
for not having a gyro board), but I decided to commit it
anyway.
There were many changes, but the most important were
probably these:
- Get autonomous to actually work.
- Trick the control loop into giving the shooter 12 volts after
every shot in order to spin it back up.
- Make sure it either powers the shooter or the drivetrain
and not both, so that the shooter wheel can't run so slowly that
frisbees get stuck.
diff --git a/bot3/control_loops/shooter/shooter.h b/bot3/control_loops/shooter/shooter.h
index b9514c3..ec1b81f 100644
--- a/bot3/control_loops/shooter/shooter.h
+++ b/bot3/control_loops/shooter/shooter.h
@@ -12,7 +12,7 @@
namespace control_loops {
class ShooterMotor
- : public aos::control_loops::ControlLoop<control_loops::ShooterLoop> {
+ : public aos::control_loops::ControlLoop<control_loops::ShooterLoop, true, false, true> {
public:
explicit ShooterMotor(
control_loops::ShooterLoop *my_shooter = &control_loops::shooter);