Changes to make the robot work with intake and shooter.
diff --git a/bot3/control_loops/shooter/shooter.cc b/bot3/control_loops/shooter/shooter.cc
index fbfeafb..d1a07f1 100644
--- a/bot3/control_loops/shooter/shooter.cc
+++ b/bot3/control_loops/shooter/shooter.cc
@@ -1,4 +1,5 @@
#include "bot3/control_loops/shooter/shooter.h"
+#include "bot3/control_loops/shooter/shooter_motor.q.h"
#include "aos/common/control_loop/control_loops.q.h"
#include "aos/common/logging/logging.h"
@@ -23,7 +24,7 @@
void ShooterMotor::RunIteration(
const control_loops::ShooterLoop::Goal *goal,
const control_loops::ShooterLoop::Position *position,
- ::aos::control_loops::Output *output,
+ control_loops::ShooterLoop::Output *output,
control_loops::ShooterLoop::Status *status) {
double velocity_goal = goal->velocity;
const double current_position =
@@ -111,6 +112,9 @@
if (output) {
output->voltage = output_voltage;
+ output->intake = goal->intake;
+ output->push = goal->push;
+ LOG(DEBUG, "goal: %lf, volt: %lf, push:%d\n", goal->intake, output_voltage, goal->push);
}
}