commit e92ff1134ee93e3da5a516428b7b9ff9565a6d82
author Ravago Jones <ravagojones@gmail.com> Sat Oct 23 17:27:44 2021 -0700
committer Ravago Jones <ravagojones@gmail.com> Sat Oct 23 17:59:26 2021 -0700
tree 1017b1ffb2a7748f20b4c4ef21f5dbba7aef36f0
parent 03d5dddbd9598a7d3b113846508c8096b64f7bdc

Make climber buttons work

Change-Id: Ia6d83928c0dbaa557fc02050bcdaf6b3b2d2d764
Signed-off-by: Ravago Jones <ravagojones@gmail.com>

y2020/control_loops/superstructure/superstructure.cc

diff --git a/y2020/control_loops/superstructure/superstructure.cc b/y2020/control_loops/superstructure/superstructure.cc
index 1a61a29..86dcbb1 100644
--- a/y2020/control_loops/superstructure/superstructure.cc
+++ b/y2020/control_loops/superstructure/superstructure.cc
@@ -158,8 +158,6 @@
           position->shooter(), status->fbb(),
           output != nullptr ? &(output_struct) : nullptr, position_timestamp);
 
-  climber_.Iterate(unsafe_goal, output != nullptr ? &(output_struct) : nullptr);
-
   const AbsoluteAndAbsoluteEncoderProfiledJointStatus *const hood_status =
       GetMutableTemporaryPointer(*status->fbb(), hood_status_offset);
 
@@ -237,6 +235,9 @@
     output_struct.feeder_voltage = 0.0;
     output_struct.intake_roller_voltage = 0.0;
     if (unsafe_goal) {
+      output_struct.climber_voltage =
+          std::clamp(unsafe_goal->climber_voltage(), -12.0f, 12.0f);
+
       if (unsafe_goal->shooting() || unsafe_goal->intake_preloading()) {
         preloading_timeout_ = position_timestamp + kPreloadingTimeout;
       }