commit e0554ef13a021cbdef0647f5531411ab0282ff94
author Adam Snaider <adsnaider@gmail.com> Sat Mar 11 23:02:45 2017 -0800
committer Austin Schuh <austin.linux@gmail.com> Wed Mar 22 20:24:04 2017 -0700
tree 122fab0250275ae011c3cf6fbf476c84f506b55e
parent 3028b1d09c246ca21833dccc7400a46655f02379

Turn lights on when button is pushed

Finished.

Change-Id: I53880c31a5d46499b7875e154bae9b5b7716091c

y2017/control_loops/superstructure/superstructure.cc

diff --git a/y2017/control_loops/superstructure/superstructure.cc b/y2017/control_loops/superstructure/superstructure.cc
index 343d809..357c4b6 100644
--- a/y2017/control_loops/superstructure/superstructure.cc
+++ b/y2017/control_loops/superstructure/superstructure.cc
@@ -105,6 +105,9 @@
         ::std::max(-kMaxIndexerRollerVoltage,
                    ::std::min(unsafe_goal->indexer.voltage_rollers,
                               kMaxIndexerRollerVoltage));
+
+    // Set the lights on or off
+    output->lights_on = unsafe_goal->lights_on;
   }
 }
 

y2017/control_loops/superstructure/superstructure.q

diff --git a/y2017/control_loops/superstructure/superstructure.q b/y2017/control_loops/superstructure/superstructure.q
index dd8a65a..3c44ed3 100644
--- a/y2017/control_loops/superstructure/superstructure.q
+++ b/y2017/control_loops/superstructure/superstructure.q
@@ -174,6 +174,7 @@
     TurretGoal turret;
     HoodGoal hood;
     ShooterGoal shooter;
+    bool lights_on;
   };
 
   message Status {
@@ -221,6 +222,9 @@
 
     double voltage_turret;
     double voltage_hood;
+
+    // If true, the lights are on.
+    bool lights_on;
   };
 
   queue Goal goal;