Add roller velocity compensation
When we are moving faster forwards, we want the roller to be spinning
faster to compensate for the ground velocity. Otherwise we push balls
away. This also makes it so we don't throw them as hard when moving
slow.
Added tests for intake roller voltage
Change-Id: Ica015d124c7a192bcd001dbc02330f71d6616b04
diff --git a/y2020/control_loops/superstructure/superstructure.h b/y2020/control_loops/superstructure/superstructure.h
index 1a9d401..7b87bca 100644
--- a/y2020/control_loops/superstructure/superstructure.h
+++ b/y2020/control_loops/superstructure/superstructure.h
@@ -45,6 +45,7 @@
const AbsoluteEncoderSubsystem &intake_joint() const { return intake_joint_; }
const PotAndAbsoluteEncoderSubsystem &turret() const { return turret_; }
const shooter::Shooter &shooter() const { return shooter_; }
+ double robot_speed() const;
protected:
virtual void RunIteration(const Goal *unsafe_goal, const Position *position,