Added column and tests
The column works! We can also shut the intake down for hanging.
Change-Id: I4369d489d1a07a688f204fd9bb00ef7ad787f5a3
diff --git a/y2017/control_loops/superstructure/superstructure.q b/y2017/control_loops/superstructure/superstructure.q
index 99989b3..dd8a65a 100644
--- a/y2017/control_loops/superstructure/superstructure.q
+++ b/y2017/control_loops/superstructure/superstructure.q
@@ -18,6 +18,9 @@
// Voltage to send to the rollers. Positive is sucking in.
double voltage_rollers;
+
+ // If true, disable the intake so we can hang.
+ bool disable_intake;
};
struct IndexerGoal {
@@ -120,7 +123,7 @@
struct ColumnEstimatorState {
bool error;
bool zeroed;
- .frc971.HallEffectAndPositionEstimatorState intake;
+ .frc971.HallEffectAndPositionEstimatorState indexer;
.frc971.HallEffectAndPositionEstimatorState turret;
};