Add turret to intake collision avoidance
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: Idca062b4ff7ddca289581baf032736dadbf71e8c
diff --git a/y2024/control_loops/superstructure/shooter.h b/y2024/control_loops/superstructure/shooter.h
index b381f3e..048e4b2 100644
--- a/y2024/control_loops/superstructure/shooter.h
+++ b/y2024/control_loops/superstructure/shooter.h
@@ -9,6 +9,7 @@
#include "y2024/constants.h"
#include "y2024/constants/constants_generated.h"
#include "y2024/control_loops/superstructure/aiming.h"
+#include "y2024/control_loops/superstructure/collision_avoidance.h"
#include "y2024/control_loops/superstructure/superstructure_can_position_generated.h"
#include "y2024/control_loops/superstructure/superstructure_goal_generated.h"
#include "y2024/control_loops/superstructure/superstructure_position_generated.h"
@@ -67,7 +68,10 @@
double *catapult_output, double *altitude_output, double *turret_output,
double *retention_roller_output, double battery_voltage,
aos::monotonic_clock::time_point current_timestamp,
- flatbuffers::FlatBufferBuilder *fbb);
+ /* Hacky way to use collision avoidance in this class */
+ CollisionAvoidance *collision_avoidance,
+ const double intake_pivot_position, double *max_turret_intake_position,
+ double *min_intake_pivot_position, flatbuffers::FlatBufferBuilder *fbb);
private:
CatapultState state_ = CatapultState::RETRACTING;