Add 2022 superstructure replay
Also add more info to status and fix plot colors
Signed-off-by: Milind Upadhyay <milind.upadhyay@gmail.com>
Change-Id: I5c9112e013f5e3b75e8f4128db5f35cf9cec336d
diff --git a/y2022/control_loops/superstructure/superstructure.cc b/y2022/control_loops/superstructure/superstructure.cc
index 4717f1a..9642ae0 100644
--- a/y2022/control_loops/superstructure/superstructure.cc
+++ b/y2022/control_loops/superstructure/superstructure.cc
@@ -34,8 +34,8 @@
event_loop->MakeFetcher<CANPosition>("/superstructure")),
joystick_state_fetcher_(
event_loop->MakeFetcher<aos::JoystickState>("/aos")),
- ball_color_fetcher_(event_loop->MakeFetcher<y2022::vision::BallColor>(
- "/superstructure")),
+ ball_color_fetcher_(
+ event_loop->MakeFetcher<y2022::vision::BallColor>("/superstructure")),
aimer_(values) {
event_loop->SetRuntimeRealtimePriority(30);
}
@@ -601,6 +601,7 @@
status_builder.add_fire(fire_);
status_builder.add_moving_too_fast(moving_too_fast);
status_builder.add_discarding_ball(discarding_ball_);
+ status_builder.add_collided(collided);
status_builder.add_ready_to_fire(state_ == SuperstructureState::LOADED &&
turret_near_goal && !collided);
status_builder.add_state(state_);