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/superstructure.cc b/y2024/control_loops/superstructure/superstructure.cc
index 29b4cc9..eeaa2fa 100644
--- a/y2024/control_loops/superstructure/superstructure.cc
+++ b/y2024/control_loops/superstructure/superstructure.cc
@@ -193,6 +193,9 @@
output != nullptr ? &output_struct.altitude_voltage : nullptr,
output != nullptr ? &output_struct.turret_voltage : nullptr,
output != nullptr ? &output_struct.retention_roller_voltage : nullptr,
+ output != nullptr
+ ? &output_struct.retention_roller_stator_current_limit
+ : nullptr,
robot_state().voltage_battery(), &collision_avoidance_,
intake_pivot_.estimated_position(), &max_intake_pivot_position,
&min_intake_pivot_position, status->fbb());