| commit | ba9cbba33d615504316157ec39965bf7492d0403 | [log] [tgz] |
|---|---|---|
| author | Neil Balch <neilbalch@gmail.com> | Fri Apr 06 22:26:38 2018 -0700 |
| committer | Brian Silverman <bsilver16384@gmail.com> | Wed May 09 19:50:27 2018 -0700 |
| tree | b65212d5a34c49f84e251926fba66df66113f9b9 | |
| parent | 8e69245ff0fd891e9d05c294eb5afccf53d58be7 [diff] [blame] |
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/intake/intake.h b/y2018/control_loops/superstructure/intake/intake.h index 2c36efa..e570c50 100644 --- a/y2018/control_loops/superstructure/intake/intake.h +++ b/y2018/control_loops/superstructure/intake/intake.h
@@ -97,6 +97,8 @@ return controller_.output_position() < -0.1; } + double output_position() const { return controller_.output_position(); } + private: IntakeController controller_;