Require the robot to see the platform before retracting the stilts
If you hit the level 2 button, it will force retract them.
Change-Id: I8d16cd3c06769043c7a5fd50de50aa1d6ac2e3d8
diff --git a/y2019/control_loops/superstructure/superstructure.q b/y2019/control_loops/superstructure/superstructure.q
index d5c8a73..f78bd5a 100644
--- a/y2019/control_loops/superstructure/superstructure.q
+++ b/y2019/control_loops/superstructure/superstructure.q
@@ -72,6 +72,12 @@
// Position of the stilts, 0 when retracted (defualt), positive lifts robot.
.frc971.PotAndAbsolutePosition stilts;
+
+ // True if the platform detection sensors detect the platform directly
+ // below the robot right behind the left and right wheels. Useful for
+ // determining when the robot is all the way on the platform.
+ bool platform_left_detect;
+ bool platform_right_detect;
};
message Output {