Improve intaking.
Add a stuck box detector (box intake velocity), and better handling for
boxes coming in sideways.
Change-Id: I5fa4a5b00f7dd1288f8fed33375953bdfe710559
diff --git a/y2018/control_loops/superstructure/arm/arm.h b/y2018/control_loops/superstructure/arm/arm.h
index d86b95b..6b2864a 100644
--- a/y2018/control_loops/superstructure/arm/arm.h
+++ b/y2018/control_loops/superstructure/arm/arm.h
@@ -35,7 +35,7 @@
static constexpr double kGotoPathVMax() { return 6.0; }
void Iterate(const uint32_t *unsafe_goal, bool grab_box, bool open_claw,
- const control_loops::ArmPosition *position,
+ bool close_claw, const control_loops::ArmPosition *position,
const bool claw_beambreak_triggered,
const bool box_back_beambreak_triggered,
const bool intake_clear_of_box, double *proximal_output,
@@ -114,6 +114,8 @@
// Start at the 0th index.
uint32_t current_node_ = 0;
+ uint32_t claw_closed_count_ = 0;
+
EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
};