Hooked vision up to the turret.
Change-Id: I87762fdedf8572f7bdc17711c96b4e2f5a7251ba
diff --git a/y2017/control_loops/superstructure/superstructure.q b/y2017/control_loops/superstructure/superstructure.q
index 3c44ed3..70508a9 100644
--- a/y2017/control_loops/superstructure/superstructure.q
+++ b/y2017/control_loops/superstructure/superstructure.q
@@ -39,6 +39,10 @@
// These are from a top view above the robot.
double angle;
+ // If true, ignore the angle and track using vision. If we don't see
+ // anything, we'll use the turret goal above.
+ bool track;
+
// Caps on velocity/acceleration for profiling. 0 for the default.
.frc971.ProfileParameters profile_params;
};
@@ -163,6 +167,10 @@
// State of the estimator.
ColumnEstimatorState estimator_state;
+
+ double raw_vision_angle;
+ double vision_angle;
+ bool vision_tracking;
};
queue_group SuperstructureQueue {