commit b9dec7181cfee480e9ffa0ef6d14ace498eafe88
author milind upadhyay <milind.upadhyay@gmail.com> Sat Mar 20 15:47:51 2021 -0700
committer Milind Upadhyay <milind.upadhyay@gmail.com> Sat Mar 20 16:03:44 2021 -0700
tree 6bf6783b4d7656486e74c595fa4eac289682b84b
parent ccb028b98452471ab8bbf5029de7e64b14f23d2d

Start and stop intake and rollers for galactic search challenge

Change-Id: Ie5113e46fe419a21b63d3fcc277097a293c85770

y2020/actors/autonomous_actor.cc

diff --git a/y2020/actors/autonomous_actor.cc b/y2020/actors/autonomous_actor.cc
index c2fddcc..0708326 100644
--- a/y2020/actors/autonomous_actor.cc
+++ b/y2020/actors/autonomous_actor.cc
@@ -122,10 +122,17 @@
         },
         SplineDirection::kForward);
 
+    set_intake_goal(1.2);
+    set_roller_voltage(7.0);
+    SendSuperstructureGoal();
+
     if (!spline1.WaitForPlan()) return;
     spline1.Start();
 
     if (!spline1.WaitForSplineDistanceRemaining(0.02)) return;
+    set_intake_goal(-0.89);
+    set_roller_voltage(0.0);
+    SendSuperstructureGoal();
   }
 }
 
@@ -186,16 +193,16 @@
 
   flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
       intake_offset;
-    
+
   {
     StaticZeroingSingleDOFProfiledSubsystemGoal::Builder intake_builder =
         builder.MakeBuilder<StaticZeroingSingleDOFProfiledSubsystemGoal>();
 
-    frc971::ProfileParameters::Builder profile_params_builder = 
+    frc971::ProfileParameters::Builder profile_params_builder =
         builder.MakeBuilder<frc971::ProfileParameters>();
     profile_params_builder.add_max_velocity(0.0);
     profile_params_builder.add_max_acceleration(0.0);
-    flatbuffers::Offset<frc971::ProfileParameters> profile_params_offset = 
+    flatbuffers::Offset<frc971::ProfileParameters> profile_params_offset =
         profile_params_builder.Finish();
     intake_builder.add_unsafe_goal(intake_goal_);
     intake_builder.add_profile_params(profile_params_offset);
@@ -204,7 +211,7 @@
 
   superstructure::Goal::Builder superstructure_builder =
         builder.MakeBuilder<superstructure::Goal>();
-  
+
   superstructure_builder.add_intake(intake_offset);
   superstructure_builder.add_roller_voltage(roller_voltage_);
   superstructure_builder.add_roller_speed_compensation(kRollerSpeedCompensation);