Make dual shooter.
Abstracted some stuff to get two shooters running in
the same process.
Change-Id: Id7617d6cf0d90c28fe2c07aefd3896eb592575dc
diff --git a/y2016/control_loops/shooter/BUILD b/y2016/control_loops/shooter/BUILD
index 6c15f15..cb3c0bc 100644
--- a/y2016/control_loops/shooter/BUILD
+++ b/y2016/control_loops/shooter/BUILD
@@ -51,9 +51,6 @@
':shooter_queue',
':shooter_plants',
'//aos/common/controls:control_loop',
- '//aos/common/util:log_interval',
- '//aos/common/logging:queue_logging',
- '//aos/common/logging:matrix_logging',
],
)
diff --git a/y2016/control_loops/shooter/shooter.cc b/y2016/control_loops/shooter/shooter.cc
index 41e6f81..9a46906 100644
--- a/y2016/control_loops/shooter/shooter.cc
+++ b/y2016/control_loops/shooter/shooter.cc
@@ -6,131 +6,130 @@
#include "y2016/control_loops/shooter/shooter_plant.h"
+
namespace y2016 {
namespace control_loops {
-Shooter::Shooter(control_loops::ShooterQueue *my_shooter)
- : aos::controls::ControlLoop<control_loops::ShooterQueue>(my_shooter),
- loop_(new StateFeedbackLoop<2, 1, 1>(
- ::y2016::control_loops::shooter::MakeShooterLoop())),
- history_position_(0),
- position_goal_(0.0),
- last_position_(0.0),
- last_velocity_goal_(0) {
+ShooterSide::ShooterSide()
+ : loop_(new StateFeedbackLoop<2, 1, 1>(
+ ::y2016::control_loops::shooter::MakeShooterLoop())) {
memset(history_, 0, sizeof(history_));
}
-/*static*/ const double Shooter::dt = 0.005;
-/*static*/ const double Shooter::kMaxSpeed =
- 10000.0 * (2.0 * M_PI) / 60.0 * 15.0 / 34.0;
+void ShooterSide::SetGoal(double angular_velocity_goal_uncapped) {
+ angular_velocity_goal_ = std::min(angular_velocity_goal_uncapped,
+ kMaxSpeed);
+}
-void Shooter::RunIteration(
- const control_loops::ShooterQueue::Goal *goal,
- const control_loops::ShooterQueue::Position *position,
- ::aos::control_loops::Output *output,
- control_loops::ShooterQueue::Status *status) {
- double velocity_goal = std::min(goal->velocity, kMaxSpeed);
- const double current_position =
- (position == NULL ? loop_->X_hat(0, 0) : position->position);
- double output_voltage = 0.0;
+void ShooterSide::EstimatePositionTimestep() {
+ // NULL position, so look at the loop.
+ SetPosition(loop_->X_hat(0, 0));
+}
- // TODO(phil): Set a queue to trigger a shot. For now, disable the fetch from
- // the queue.
- if (false) {
- // if (index_loop.status.FetchLatest() || index_loop.status.get()) {
- // if (index_loop.status->is_shooting) {
- if (velocity_goal != last_velocity_goal_ && velocity_goal < 130) {
- velocity_goal = last_velocity_goal_;
- }
- } else {
- LOG(WARNING, "assuming index isn't shooting\n");
- }
- last_velocity_goal_ = velocity_goal;
+void ShooterSide::SetPosition(double current_position) {
+ current_position_ = current_position;
// Track the current position if the velocity goal is small.
- if (velocity_goal <= 1.0) {
- position_goal_ = current_position;
- }
+ if (angular_velocity_goal_ <= 1.0) position_goal_ = current_position_;
- // TODO(phil): Does this change make sense?
- // loop_->Y << current_position;
+ // Update position in the model.
Eigen::Matrix<double, 1, 1> Y;
- Y << current_position;
+ Y << current_position_;
loop_->Correct(Y);
- // Add the position to the history.
- history_[history_position_] = current_position;
- history_position_ = (history_position_ + 1) % kHistoryLength;
-
// Prevents integral windup by limiting the position error such that the
// error can't produce much more than full power.
- const double kVelocityWeightScalar = 0.35;
const double max_reference =
(loop_->U_max(0, 0) -
- kVelocityWeightScalar * (velocity_goal - loop_->X_hat(1, 0)) *
- loop_->K(0, 1)) /
+ kAngularVelocityWeightScalar *
+ (angular_velocity_goal_ - loop_->X_hat(1, 0)) * loop_->K(0, 1)) /
loop_->K(0, 0) +
loop_->X_hat(0, 0);
const double min_reference =
(loop_->U_min(0, 0) -
- kVelocityWeightScalar * (velocity_goal - loop_->X_hat(1, 0)) *
- loop_->K(0, 1)) /
+ kAngularVelocityWeightScalar *
+ (angular_velocity_goal_ - loop_->X_hat(1, 0)) * loop_->K(0, 1)) /
loop_->K(0, 0) +
loop_->X_hat(0, 0);
-
position_goal_ =
::std::max(::std::min(position_goal_, max_reference), min_reference);
- // TODO(phil): Does this change make sense?
- // loop_->R << position_goal_, velocity_goal;
- loop_->mutable_R(0, 0) = position_goal_;
- loop_->mutable_R(1, 0) = velocity_goal;
- position_goal_ += velocity_goal * dt;
- // TODO(phil): Does this change make sense?
- // loop_->Update(position, output == NULL);
- loop_->Update(output == NULL);
+ loop_->mutable_R() << position_goal_, angular_velocity_goal_;
+ position_goal_ +=
+ angular_velocity_goal_ * ::aos::controls::kLoopFrequency.ToSeconds();
- // Kill power at low velocity goals.
- if (velocity_goal < 1.0) {
- loop_->mutable_U(0, 0) = 0.0;
- } else {
- output_voltage = loop_->U(0, 0);
- }
+ // Add the position to the history.
+ history_[history_position_] = current_position_;
+ history_position_ = (history_position_ + 1) % kHistoryLength;
+}
- LOG(DEBUG,
- "PWM: %f, raw_pos: %f rotations: %f "
- "junk velocity: %f, xhat[0]: %f xhat[1]: %f, R[0]: %f R[1]: %f\n",
- output_voltage, current_position, current_position / (2 * M_PI),
- (current_position - last_position_) / dt,
- // TODO(phil): Does this change make sense?
- // loop_->X_hat[0], loop_->X_hat[1], loop_->R[0], loop_->R[1]);
- loop_->X_hat(0, 0), loop_->X_hat(1, 0), loop_->R(0, 0), loop_->R(1, 0));
-
- // Calculates the velocity over the last kHistoryLength * .01 seconds
- // by taking the difference between the current and next history positions.
+const ShooterStatus ShooterSide::GetStatus() {
+ // Calculate average over dt * kHistoryLength.
int old_history_position =
((history_position_ == 0) ? kHistoryLength : history_position_) - 1;
- average_velocity_ =
- (history_[old_history_position] - history_[history_position_]) / dt /
- (double)(kHistoryLength - 1);
+ double avg_angular_velocity =
+ (history_[old_history_position] - history_[history_position_]) /
+ ::aos::controls::kLoopFrequency.ToSeconds() /
+ static_cast<double>(kHistoryLength - 1);
- status->average_velocity = average_velocity_;
+ // Ready if average angular velocity is close to the goal.
+ bool ready = (std::abs(angular_velocity_goal_ - avg_angular_velocity) <
+ kTolerance &&
+ angular_velocity_goal_ != 0.0);
- // Determine if the velocity is close enough to the goal to be ready.
- if (std::abs(velocity_goal - average_velocity_) < 10.0 &&
- velocity_goal != 0.0) {
- LOG(DEBUG, "Steady: ");
- status->ready = true;
- } else {
- LOG(DEBUG, "Not ready: ");
- status->ready = false;
+ return {avg_angular_velocity, ready};
+}
+
+double ShooterSide::GetOutput() {
+ if (angular_velocity_goal_ < 1.0) {
+ // Kill power at low angular velocities.
+ return 0.0;
}
- LOG(DEBUG, "avg = %f goal = %f\n", average_velocity_, velocity_goal);
- last_position_ = current_position;
+ return loop_->U(0, 0);
+}
+
+void ShooterSide::UpdateLoop(bool output_is_null) {
+ loop_->Update(output_is_null);
+}
+
+Shooter::Shooter(control_loops::ShooterQueue *my_shooter)
+ : aos::controls::ControlLoop<control_loops::ShooterQueue>(my_shooter) {}
+
+void Shooter::RunIteration(
+ const control_loops::ShooterQueue::Goal *goal,
+ const control_loops::ShooterQueue::Position *position,
+ control_loops::ShooterQueue::Output *output,
+ control_loops::ShooterQueue::Status *status) {
+ if (goal) {
+ // Update position/goal for our two shooter sides.
+ left_.SetGoal(goal->angular_velocity_left);
+ right_.SetGoal(goal->angular_velocity_right);
+
+ if (position == nullptr) {
+ left_.EstimatePositionTimestep();
+ right_.EstimatePositionTimestep();
+ } else {
+ left_.SetPosition(position->theta_left);
+ right_.SetPosition(position->theta_right);
+ }
+ }
+
+ ShooterStatus status_left = left_.GetStatus();
+ ShooterStatus status_right = right_.GetStatus();
+ status->avg_angular_velocity_left = status_left.avg_angular_velocity;
+ status->avg_angular_velocity_right = status_right.avg_angular_velocity;
+
+ status->ready_left = status_left.ready;
+ status->ready_right = status_right.ready;
+ status->ready_both = (status_left.ready && status_right.ready);
+
+ left_.UpdateLoop(output == nullptr);
+ right_.UpdateLoop(output == nullptr);
if (output) {
- output->voltage = output_voltage;
+ output->voltage_left = left_.GetOutput();
+ output->voltage_right = right_.GetOutput();
}
}
diff --git a/y2016/control_loops/shooter/shooter.h b/y2016/control_loops/shooter/shooter.h
index 766845d..6a3fa4d 100644
--- a/y2016/control_loops/shooter/shooter.h
+++ b/y2016/control_loops/shooter/shooter.h
@@ -12,42 +12,58 @@
namespace y2016 {
namespace control_loops {
-class Shooter
- : public ::aos::controls::ControlLoop<control_loops::ShooterQueue> {
+namespace {
+// TODO(constants): Update.
+const double kTolerance = 10.0;
+const double kMaxSpeed = 10000.0 * (2.0 * M_PI) / 60.0 * 15.0 / 34.0;
+const double kAngularVelocityWeightScalar = 0.35;
+} // namespace
+
+struct ShooterStatus {
+ double avg_angular_velocity;
+ bool ready;
+};
+
+class ShooterSide {
public:
- explicit Shooter(
- control_loops::ShooterQueue *my_shooter = &control_loops::shooter_queue);
+ ShooterSide();
- // Control loop time step.
- static const double dt;
-
- // Maximum speed of the shooter wheel which the encoder is rated for in
- // rad/sec.
- static const double kMaxSpeed;
-
- protected:
- virtual void RunIteration(
- const control_loops::ShooterQueue::Goal *goal,
- const control_loops::ShooterQueue::Position *position,
- ::aos::control_loops::Output *output,
- control_loops::ShooterQueue::Status *status);
+ void SetGoal(double angular_velocity_goal);
+ void EstimatePositionTimestep();
+ void SetPosition(double current_position);
+ const ShooterStatus GetStatus();
+ double GetOutput();
+ void UpdateLoop(bool output_is_null);
private:
- // The state feedback control loop to talk to.
::std::unique_ptr<StateFeedbackLoop<2, 1, 1>> loop_;
- // History array and stuff for determining average velocity and whether
- // we are ready to shoot.
+ double current_position_ = 0.0;
+ double position_goal_ = 0.0;
+ double angular_velocity_goal_ = 0.0;
+
+ // History array for calculating a filtered angular velocity.
static const int kHistoryLength = 5;
double history_[kHistoryLength];
ptrdiff_t history_position_;
- double average_velocity_;
- double position_goal_;
- double last_position_;
+ DISALLOW_COPY_AND_ASSIGN(ShooterSide);
+};
- // For making sure it keeps spinning if we're shooting.
- double last_velocity_goal_;
+class Shooter
+ : public ::aos::controls::ControlLoop<control_loops::ShooterQueue> {
+ public:
+ explicit Shooter(control_loops::ShooterQueue *shooter_queue =
+ &control_loops::shooter_queue);
+
+ protected:
+ void RunIteration(const control_loops::ShooterQueue::Goal *goal,
+ const control_loops::ShooterQueue::Position *position,
+ control_loops::ShooterQueue::Output *output,
+ control_loops::ShooterQueue::Status *status) override;
+
+ private:
+ ShooterSide left_, right_;
DISALLOW_COPY_AND_ASSIGN(Shooter);
};
diff --git a/y2016/control_loops/shooter/shooter.q b/y2016/control_loops/shooter/shooter.q
index 57d54f9..49575fb 100644
--- a/y2016/control_loops/shooter/shooter.q
+++ b/y2016/control_loops/shooter/shooter.q
@@ -6,26 +6,40 @@
queue_group ShooterQueue {
implements aos.control_loops.ControlLoop;
- message Goal {
- // Goal velocity in rad/sec
- double velocity;
- };
+ // All angles are in radians, and angular velocities are in rad/sec. For all
+ // angular velocities, positive is shooting the ball out of the robot.
- message Status {
- // True if the shooter is up to speed.
- bool ready;
- // The average velocity over the last 0.1 seconds.
- double average_velocity;
+ message Goal {
+ // Angular velocity goals in rad/sec.
+ double angular_velocity_left;
+ double angular_velocity_right;
};
message Position {
- // The angle of the shooter wheel measured in rad/sec.
- double position;
+ // Wheel angle in rad/sec.
+ double theta_left;
+ double theta_right;
+ };
+
+ message Status {
+ bool ready_left;
+ bool ready_right;
+ // Is the shooter ready to shoot?
+ bool ready_both;
+
+ // Average angular velocities over dt * kHistoryLength.
+ double avg_angular_velocity_left;
+ double avg_angular_velocity_right;
+ };
+
+ message Output {
+ double voltage_left;
+ double voltage_right;
};
queue Goal goal;
queue Position position;
- queue aos.control_loops.Output output;
+ queue Output output;
queue Status status;
};
diff --git a/y2016/control_loops/shooter/shooter_lib_test.cc b/y2016/control_loops/shooter/shooter_lib_test.cc
index cf5a810..9ec0334 100644
--- a/y2016/control_loops/shooter/shooter_lib_test.cc
+++ b/y2016/control_loops/shooter/shooter_lib_test.cc
@@ -7,8 +7,9 @@
#include "gtest/gtest.h"
#include "aos/common/queue.h"
#include "aos/common/controls/control_loop_test.h"
-#include "y2016/control_loops/shooter/shooter.q.h"
#include "frc971/control_loops/team_number_test_environment.h"
+#include "y2016/control_loops/shooter/shooter.q.h"
+#include "y2016/control_loops/shooter/shooter.h"
using ::aos::time::Time;
using ::frc971::control_loops::testing::kTeamNumber;
@@ -21,10 +22,11 @@
// position.
class ShooterSimulation {
public:
- // Constructs a shooter simulation. I'm not sure how the construction of
- // the queue (shooter_queue_) actually works (same format as wrist).
+ // Constructs a shooter simulation.
ShooterSimulation()
- : shooter_plant_(new StateFeedbackPlant<2, 1, 1>(
+ : shooter_plant_left_(new StateFeedbackPlant<2, 1, 1>(
+ ::y2016::control_loops::shooter::MakeShooterPlant())),
+ shooter_plant_right_(new StateFeedbackPlant<2, 1, 1>(
::y2016::control_loops::shooter::MakeShooterPlant())),
shooter_queue_(".y2016.control_loops.shooter", 0x78d8e372,
".y2016.control_loops.shooter.goal",
@@ -37,7 +39,8 @@
::aos::ScopedMessagePtr<control_loops::ShooterQueue::Position> position =
shooter_queue_.position.MakeMessage();
- position->position = shooter_plant_->Y(0, 0);
+ position->theta_left = shooter_plant_left_->Y(0, 0);
+ position->theta_right = shooter_plant_right_->Y(0, 0);
position.Send();
}
@@ -45,11 +48,16 @@
void Simulate() {
EXPECT_TRUE(shooter_queue_.output.FetchLatest());
- shooter_plant_->mutable_U(0, 0) = shooter_queue_.output->voltage;
- shooter_plant_->Update();
+ shooter_plant_left_->mutable_U(0, 0) = shooter_queue_.output->voltage_left;
+ shooter_plant_right_->mutable_U(0, 0) =
+ shooter_queue_.output->voltage_right;
+
+ shooter_plant_left_->Update();
+ shooter_plant_right_->Update();
}
- ::std::unique_ptr<StateFeedbackPlant<2, 1, 1>> shooter_plant_;
+ ::std::unique_ptr<StateFeedbackPlant<2, 1, 1>> shooter_plant_left_,
+ shooter_plant_right_;
private:
ShooterQueue shooter_queue_;
@@ -65,8 +73,6 @@
".y2016.control_loops.shooter.status"),
shooter_(&shooter_queue_),
shooter_plant_() {
- // Flush the robot state queue so we can use clean shared memory for this
- // test.
set_team_id(kTeamNumber);
}
@@ -77,12 +83,13 @@
EXPECT_TRUE(shooter_queue_.goal.get() != nullptr);
EXPECT_TRUE(shooter_queue_.status.get() != nullptr);
- EXPECT_NEAR(shooter_queue_.goal->velocity,
- shooter_queue_.status->average_velocity, 10.0);
+ EXPECT_NEAR(shooter_queue_.goal->angular_velocity_left,
+ shooter_queue_.status->avg_angular_velocity_left, 10.0);
+ EXPECT_NEAR(shooter_queue_.goal->angular_velocity_right,
+ shooter_queue_.status->avg_angular_velocity_right, 10.0);
}
- // Runs one iteration of the whole simulation and checks that separation
- // remains reasonable.
+ // Runs one iteration of the whole simulation.
void RunIteration(bool enabled = true) {
SendMessages(enabled);
@@ -102,8 +109,8 @@
}
// Create a new instance of the test queue so that it invalidates the queue
- // that it points to. Otherwise, we will have a pointed to
- // shared memory that is no longer valid.
+ // that it points to. Otherwise, we will have a pointer to shared memory that
+ // is no longer valid.
ShooterQueue shooter_queue_;
// Create a control loop and simulation.
@@ -113,43 +120,58 @@
// Tests that the shooter does nothing when the goal is zero.
TEST_F(ShooterTest, DoesNothing) {
- ASSERT_TRUE(shooter_queue_.goal.MakeWithBuilder().velocity(0.0).Send());
+ ASSERT_TRUE(shooter_queue_.goal.MakeWithBuilder()
+ .angular_velocity_left(0.0)
+ .angular_velocity_right(0.0)
+ .Send());
RunIteration();
VerifyNearGoal();
EXPECT_TRUE(shooter_queue_.output.FetchLatest());
- EXPECT_EQ(shooter_queue_.output->voltage, 0.0);
+ EXPECT_EQ(shooter_queue_.output->voltage_left, 0.0);
+ EXPECT_EQ(shooter_queue_.output->voltage_right, 0.0);
}
// Tests that the shooter spins up to speed and that it then spins down
// without applying any power.
TEST_F(ShooterTest, SpinUpAndDown) {
// Spin up.
- EXPECT_TRUE(shooter_queue_.goal.MakeWithBuilder().velocity(450.0).Send());
+ EXPECT_TRUE(shooter_queue_.goal.MakeWithBuilder()
+ .angular_velocity_left(450.0)
+ .angular_velocity_right(450.0)
+ .Send());
RunForTime(Time::InSeconds(10));
VerifyNearGoal();
- EXPECT_TRUE(shooter_queue_.status->ready);
- EXPECT_TRUE(shooter_queue_.goal.MakeWithBuilder().velocity(0.0).Send());
+ EXPECT_TRUE(shooter_queue_.status->ready_both);
+ EXPECT_TRUE(shooter_queue_.goal.MakeWithBuilder()
+ .angular_velocity_left(0.0)
+ .angular_velocity_right(0.0)
+ .Send());
// Make sure we don't apply voltage on spin-down.
RunIteration();
EXPECT_TRUE(shooter_queue_.output.FetchLatest());
- EXPECT_EQ(0.0, shooter_queue_.output->voltage);
+ EXPECT_EQ(0.0, shooter_queue_.output->voltage_left);
+ EXPECT_EQ(0.0, shooter_queue_.output->voltage_right);
// Continue to stop.
RunForTime(Time::InSeconds(5));
EXPECT_TRUE(shooter_queue_.output.FetchLatest());
- EXPECT_EQ(0.0, shooter_queue_.output->voltage);
+ EXPECT_EQ(0.0, shooter_queue_.output->voltage_left);
+ EXPECT_EQ(0.0, shooter_queue_.output->voltage_right);
}
-// Test to make sure that it does not exceed the encoder's rated speed.
-TEST_F(ShooterTest, RateLimitTest) {
- ASSERT_TRUE(shooter_queue_.goal.MakeWithBuilder().velocity(1000.0).Send());
-
- RunForTime(Time::InSeconds(10));
- EXPECT_TRUE(shooter_queue_.status.FetchLatest());
- EXPECT_TRUE(shooter_queue_.status->ready);
+// Tests that the shooter doesn't say it is ready if one side isn't up to speed.
+// According to our tuning, we may overshoot the goal on one shooter and
+// mistakenly say that we are ready. This test should look at both extremes.
+TEST_F(ShooterTest, SideLagTest) {
+ // Spin up.
+ EXPECT_TRUE(shooter_queue_.goal.MakeWithBuilder()
+ .angular_velocity_left(20.0)
+ .angular_velocity_right(450.0)
+ .Send());
+ RunForTime(Time::InSeconds(0.1));
shooter_queue_.goal.FetchLatest();
shooter_queue_.status.FetchLatest();
@@ -157,12 +179,55 @@
EXPECT_TRUE(shooter_queue_.goal.get() != nullptr);
EXPECT_TRUE(shooter_queue_.status.get() != nullptr);
- EXPECT_GT(shooter_.kMaxSpeed, shooter_queue_.status->average_velocity);
+ // Left should be up to speed, right shouldn't.
+ EXPECT_TRUE(shooter_queue_.status->ready_left);
+ EXPECT_FALSE(shooter_queue_.status->ready_right);
+ EXPECT_FALSE(shooter_queue_.status->ready_both);
+
+ RunForTime(Time::InSeconds(5));
+
+ shooter_queue_.goal.FetchLatest();
+ shooter_queue_.status.FetchLatest();
+
+ EXPECT_TRUE(shooter_queue_.goal.get() != nullptr);
+ EXPECT_TRUE(shooter_queue_.status.get() != nullptr);
+
+ // Both should be up to speed.
+ EXPECT_TRUE(shooter_queue_.status->ready_left);
+ EXPECT_TRUE(shooter_queue_.status->ready_right);
+ EXPECT_TRUE(shooter_queue_.status->ready_both);
+}
+
+// Test to make sure that it does not exceed the encoder's rated speed.
+TEST_F(ShooterTest, RateLimitTest) {
+ ASSERT_TRUE(shooter_queue_.goal.MakeWithBuilder()
+ .angular_velocity_left(1000.0)
+ .angular_velocity_right(1000.0)
+ .Send());
+
+ RunForTime(Time::InSeconds(10));
+ EXPECT_TRUE(shooter_queue_.status.FetchLatest());
+ EXPECT_TRUE(shooter_queue_.status->ready_both);
+
+ shooter_queue_.goal.FetchLatest();
+ shooter_queue_.status.FetchLatest();
+
+ EXPECT_TRUE(shooter_queue_.goal.get() != nullptr);
+ EXPECT_TRUE(shooter_queue_.status.get() != nullptr);
+
+ EXPECT_GT(::y2016::control_loops::kMaxSpeed,
+ shooter_queue_.status->avg_angular_velocity_left);
+
+ EXPECT_GT(::y2016::control_loops::kMaxSpeed,
+ shooter_queue_.status->avg_angular_velocity_right);
}
// Tests that the shooter can spin up nicely while missing position packets.
TEST_F(ShooterTest, MissingPositionMessages) {
- ASSERT_TRUE(shooter_queue_.goal.MakeWithBuilder().velocity(200.0).Send());
+ ASSERT_TRUE(shooter_queue_.goal.MakeWithBuilder()
+ .angular_velocity_left(200.0)
+ .angular_velocity_right(200.0)
+ .Send());
for (int i = 0; i < 100; ++i) {
if (i % 7) {
shooter_plant_.SendPositionMessage();
@@ -175,8 +240,13 @@
}
// Tests that the shooter can spin up nicely while disabled for a while.
+// TODO(comran): Update this test, since it's the same as
+// MissingPositionMessages.
TEST_F(ShooterTest, Disabled) {
- ASSERT_TRUE(shooter_queue_.goal.MakeWithBuilder().velocity(200.0).Send());
+ ASSERT_TRUE(shooter_queue_.goal.MakeWithBuilder()
+ .angular_velocity_left(200.0)
+ .angular_velocity_right(200.0)
+ .Send());
for (int i = 0; i < 100; ++i) {
if (i % 7) {
shooter_plant_.SendPositionMessage();