Set retention roller current limits in shooter.cc
This lets us turn down the current to 2 amps if we are loaded, if not we
want to go back up to 5 amps.
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: Ib164af63052dd00533a75fee8b1f89073dbec749
diff --git a/y2024/control_loops/superstructure/shooter.h b/y2024/control_loops/superstructure/shooter.h
index 521fa04..1550fdc 100644
--- a/y2024/control_loops/superstructure/shooter.h
+++ b/y2024/control_loops/superstructure/shooter.h
@@ -66,7 +66,8 @@
flatbuffers::Offset<ShooterStatus> Iterate(
const Position *position, const ShooterGoal *shooter_goal,
double *catapult_output, double *altitude_output, double *turret_output,
- double *retention_roller_output, double battery_voltage,
+ double *retention_roller_output,
+ double *retention_roller_stator_current_limit, double battery_voltage,
/* Hacky way to use collision avoidance in this class */
CollisionAvoidance *collision_avoidance,
const double intake_pivot_position, double *max_turret_intake_position,