commit 97410d783ff1a54db8086ea85ab89b399ef2ab28
author Austin Schuh <austin.linux@gmail.com> Sat Mar 12 15:37:23 2022 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Mar 12 17:48:45 2022 -0800
tree e069254d2c229bae3e54f63930f0f934be30d83c
parent 6c091130f68ab1cffcad7167ac6a30cebeaa96c5

Add battery voltage compensation to the catapult

This appears to help a lot with shot accuracy.

Change-Id: I91c100196f8fd8dd98d98ed48a9ac0a60578bcb6
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

y2022/control_loops/superstructure/catapult/catapult.h

diff --git a/y2022/control_loops/superstructure/catapult/catapult.h b/y2022/control_loops/superstructure/catapult/catapult.h
index ccd4b06..0606c0d 100644
--- a/y2022/control_loops/superstructure/catapult/catapult.h
+++ b/y2022/control_loops/superstructure/catapult/catapult.h
@@ -211,7 +211,7 @@
   const flatbuffers::Offset<
       frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus>
   Iterate(const Goal *unsafe_goal, const Position *position,
-          double *catapult_voltage, bool fire,
+          double battery_voltage, double *catapult_voltage, bool fire,
           flatbuffers::FlatBufferBuilder *fbb);
 
  private: