Make spit spit the feed roller too.
This might help us unjam in competition better.
Change-Id: I98aa271db7a70f197e1ac9c9452eed2c4384dde1
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2020/control_loops/superstructure/superstructure.cc b/y2020/control_loops/superstructure/superstructure.cc
index dce958f..10738ee 100644
--- a/y2020/control_loops/superstructure/superstructure.cc
+++ b/y2020/control_loops/superstructure/superstructure.cc
@@ -278,6 +278,12 @@
output_struct.feeder_voltage = -12.0;
}
+ if (unsafe_goal->has_feed_voltage_override()) {
+ output_struct.feeder_voltage = unsafe_goal->feed_voltage_override();
+ output_struct.washing_machine_spinner_voltage = -5.0;
+ preloading_timeout_ = position_timestamp;
+ }
+
if (unsafe_goal->shooting()) {
if ((shooter_.ready() ||
(!has_turret_ && shooter_.accelerator_ready())) &&
diff --git a/y2020/control_loops/superstructure/superstructure_goal.fbs b/y2020/control_loops/superstructure/superstructure_goal.fbs
index 990234a..f2b9096 100644
--- a/y2020/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2020/control_loops/superstructure/superstructure_goal.fbs
@@ -55,6 +55,9 @@
// Positive is deploying climber and to climb; cannot run in reverse
climber_voltage:float (id: 10);
+
+ // Feed voltage override.
+ feed_voltage_override:float (id: 13);
}
root_type Goal;
diff --git a/y2020/joystick_reader.cc b/y2020/joystick_reader.cc
index dd98e63..2da12e6 100644
--- a/y2020/joystick_reader.cc
+++ b/y2020/joystick_reader.cc
@@ -292,6 +292,9 @@
superstructure_goal_builder.add_shooter(shooter_offset);
superstructure_goal_builder.add_shooting(data.IsPressed(kFeed) ||
data.IsPressed(kFeedDriver));
+ if (data.IsPressed(kSpit)) {
+ superstructure_goal_builder.add_feed_voltage_override(-7.0);
+ }
superstructure_goal_builder.add_climber_voltage(climber_speed);
superstructure_goal_builder.add_turret_tracking(turret_tracking);