commit d0e9e06d6ded4d05f328e5ff2e186ba0ab4c3669
author Austin Schuh <austin.linux@gmail.com> Sun Oct 24 17:40:58 2021 -0700
committer Austin Schuh <austin.linux@gmail.com> Sat Nov 06 15:39:57 2021 -0700
tree 232c7e0a9c00b965014e406bda0ad8aba4d4b604
parent 9054a22dcf45b4ad5cb708812be8c59b07aa1bec

Add a 6 ball auto.

This has run 10 times in a row.

Change-Id: I6ffe32e99251d17a2e19c371132d1e2371f06dbb
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

y2020/actors/autonomous_actor.h

diff --git a/y2020/actors/autonomous_actor.h b/y2020/actors/autonomous_actor.h
index f2c48d9..3e698f3 100644
--- a/y2020/actors/autonomous_actor.h
+++ b/y2020/actors/autonomous_actor.h
@@ -29,8 +29,12 @@
   void Reset();
 
   void set_intake_goal(double intake_goal) { intake_goal_ = intake_goal; }
-  void set_intake_preloading(bool intake_preloading) {
-    intake_preloading_ = intake_preloading;
+  void set_roller(bool roller) {
+    if (roller) {
+      roller_voltage_ = 6.0;
+    } else {
+      roller_voltage_ = 0.0;
+    }
   }
   void set_roller_voltage(double roller_voltage) {
     roller_voltage_ = roller_voltage;
@@ -50,6 +54,8 @@
   void JustShoot();
   bool DriveFwd();
   bool WaitForBallsShot(int num_shot);
+  int Balls();
+  bool WaitUntilAbsoluteBallsShot(int absolute_balls);
 
   void MaybeSendStartingPosition();
 
@@ -57,9 +63,8 @@
 
   double intake_goal_ = 0.0;
   double roller_voltage_ = 0.0;
-  bool intake_preloading_ = false;
   bool shooting_ = false;
-  bool shooter_tracking_ = false;
+  bool shooter_tracking_ = true;
   const float kRollerSpeedCompensation = 2.0;
 
   aos::Sender<frc971::control_loops::drivetrain::LocalizerControl>