commit ba9cbba33d615504316157ec39965bf7492d0403
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

Improve intaking.

Add a stuck box detector (box intake velocity), and better handling for
boxes coming in sideways.

Change-Id: I5fa4a5b00f7dd1288f8fed33375953bdfe710559

y2018/control_loops/superstructure/superstructure.q

diff --git a/y2018/control_loops/superstructure/superstructure.q b/y2018/control_loops/superstructure/superstructure.q
index 9bdabed..e2cad73 100644
--- a/y2018/control_loops/superstructure/superstructure.q
+++ b/y2018/control_loops/superstructure/superstructure.q
@@ -132,12 +132,15 @@
     bool grab_box;
 
     bool open_claw;
+    bool close_claw;
 
     bool deploy_fork;
 
     bool hook_release;
 
     double voltage_winch;
+
+    bool disable_box_correct;
   };
 
   message Status {
@@ -152,6 +155,9 @@
     IntakeSideStatus right_intake;
 
     ArmStatus arm;
+
+    double filtered_box_velocity;
+    uint32_t rotation_state;
   };
 
   message Position {