commit c9481b81963450d72938dc2d20e12cee15792538
author Austin Schuh <austin.linux@gmail.com> Sun Mar 13 21:19:47 2022 -0700
committer Austin Schuh <austin.linux@gmail.com> Sun Mar 13 21:21:18 2022 -0700
tree 240dfcb14bf6104d550ec5705b9c74c574591334
parent 7a43d07a8dab0cbad5e1783672c21fd2651e4598

Actually go to the intake requested by the driver

Change-Id: I90bc84d1204092d0130a8c9e393825a861fa5aad
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

y2022/joystick_reader.cc

diff --git a/y2022/joystick_reader.cc b/y2022/joystick_reader.cc
index a88e552..653e1c1 100644
--- a/y2022/joystick_reader.cc
+++ b/y2022/joystick_reader.cc
@@ -286,7 +286,7 @@
       flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
           turret_offset;
       if (turret_pos.has_value()) {
-        CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+        turret_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
             *builder.fbb(), turret_pos.value(),
             CreateProfileParameters(*builder.fbb(), 12.0, 20.0));
       }
@@ -315,7 +315,9 @@
 
       superstructure_goal_builder.add_intake_front(intake_front_offset);
       superstructure_goal_builder.add_intake_back(intake_back_offset);
-      superstructure_goal_builder.add_turret(turret_offset);
+      if (!turret_offset.IsNull()) {
+        superstructure_goal_builder.add_turret(turret_offset);
+      }
       superstructure_goal_builder.add_climber(climber_offset);
       superstructure_goal_builder.add_catapult(catapult_offset);
       superstructure_goal_builder.add_fire(fire);