commit c63d0949159ff2ee0e215d6e7dd368af4ed6cdb4
author milind-u <milind.upadhyay@gmail.com> Fri Apr 15 12:07:42 2022 -0700
committer milind-u <milind.upadhyay@gmail.com> Fri Apr 15 12:07:42 2022 -0700
tree 8ea98cceec8ae35bb53971be9d7f9122f3ad0d3a
parent a2dba0be70009d961b315399c5d458bf114203f4

Speed up catapult

We got a new gear ratio.  Fix some state machine transitions as well to
let us reload the catapult while grabbing the next ball, and to fire
immediately too.

Change-Id: I930af58db609815d4fa639fa37b66caa011b6b94
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
Signed-off-by: milind-u <milind.upadhyay@gmail.com>

y2022/control_loops/superstructure/superstructure_plotter.ts

diff --git a/y2022/control_loops/superstructure/superstructure_plotter.ts b/y2022/control_loops/superstructure/superstructure_plotter.ts
index f8c3a7c..ec36dd4 100644
--- a/y2022/control_loops/superstructure/superstructure_plotter.ts
+++ b/y2022/control_loops/superstructure/superstructure_plotter.ts
@@ -32,8 +32,8 @@
       .setColor(RED)
       .setPointSize(4.0);
   positionPlot.addMessageLine(status, ['state'])
-      .setColor(CYAN)
-      .setPointSize(1.0);
+      .setColor(PINK)
+      .setPointSize(4.0);
   positionPlot.addMessageLine(status, ['flippers_open'])
       .setColor(WHITE)
       .setPointSize(1.0);
@@ -60,6 +60,9 @@
   intakePlot.addMessageLine(position, ['intake_beambreak_back'])
       .setColor(PINK)
       .setPointSize(1.0);
+  intakePlot.addMessageLine(output, ['transfer_roller_voltage'])
+      .setColor(BROWN)
+      .setPointSize(3.0);
 
 
   const otherPlot =
@@ -72,6 +75,9 @@
   otherPlot.addMessageLine(status, ['catapult', 'position'])
       .setColor(PINK)
       .setPointSize(4.0);
+  otherPlot.addMessageLine(status, ['turret', 'position'])
+      .setColor(WHITE)
+      .setPointSize(4.0);
   otherPlot.addMessageLine(position, ['flipper_arm_left', 'encoder'])
       .setColor(BLUE)
       .setPointSize(4.0);