Add a current limit on the flywheels.
We were blowing breakers. Limit the request to do better.
Change-Id: Ibd59d9c54e02991070d0d68f42eb33c29c3a4132
diff --git a/y2020/control_loops/superstructure/shooter/shooter.cc b/y2020/control_loops/superstructure/shooter/shooter.cc
index a9f1c4c..6e48a21 100644
--- a/y2020/control_loops/superstructure/shooter/shooter.cc
+++ b/y2020/control_loops/superstructure/shooter/shooter.cc
@@ -16,9 +16,12 @@
} // namespace
Shooter::Shooter()
- : finisher_(finisher::MakeIntegralFinisherLoop()),
- accelerator_left_(accelerator::MakeIntegralAcceleratorLoop()),
- accelerator_right_(accelerator::MakeIntegralAcceleratorLoop()) {}
+ : finisher_(finisher::MakeIntegralFinisherLoop(), finisher::kBemf,
+ finisher::kResistance),
+ accelerator_left_(accelerator::MakeIntegralAcceleratorLoop(),
+ accelerator::kBemf, accelerator::kResistance),
+ accelerator_right_(accelerator::MakeIntegralAcceleratorLoop(),
+ accelerator::kBemf, accelerator::kResistance) {}
bool Shooter::UpToSpeed(const ShooterGoal *goal) {
return (