commit ef687157a8a2d5bc3c119b2e13c58d8b6a577f73
author Filip Kujawa <filip.j.kujawa@gmail.com> Tue Nov 14 22:11:32 2023 -0800
committer Filip Kujawa <filip.j.kujawa@gmail.com> Wed Nov 15 22:28:54 2023 -0800
tree 861adb93a43d0bad5f54d038fd9c94a4b5db7410
parent 271c9974a87c2877511115b48bd83ebc23eff819

Add 3rd Robot Auto

- 3 Cube (High, mid, low) cable side  tested at MTTD
- 1 Cube middle with mobility over charge untested
- 1 High Cube tested at MTTD

Signed-off-by: Filip Kujawa <filip.j.kujawa@gmail.com>
Change-Id: Ia4db6bea9559fe77f5fca6e866179ef866f37715

y2023_bot3/autonomous/autonomous_actor.h

diff --git a/y2023_bot3/autonomous/autonomous_actor.h b/y2023_bot3/autonomous/autonomous_actor.h
index b7978c7..ad33eed 100644
--- a/y2023_bot3/autonomous/autonomous_actor.h
+++ b/y2023_bot3/autonomous/autonomous_actor.h
@@ -1,5 +1,5 @@
-#ifndef Y2023_AUTONOMOUS_AUTONOMOUS_ACTOR_H_
-#define Y2023_AUTONOMOUS_AUTONOMOUS_ACTOR_H_
+#ifndef Y2023_BOT3_AUTONOMOUS_AUTONOMOUS_ACTOR_H_
+#define Y2023_BOT3_AUTONOMOUS_AUTONOMOUS_ACTOR_H_
 
 #include "aos/actions/actions.h"
 #include "aos/actions/actor.h"
@@ -11,6 +11,8 @@
 #include "y2023_bot3/control_loops/superstructure/superstructure_goal_generated.h"
 #include "y2023_bot3/control_loops/superstructure/superstructure_status_generated.h"
 
+// TODO<FILIP>: Add NEUTRAL pivot pose.
+
 namespace y2023_bot3 {
 namespace autonomous {
 
@@ -24,13 +26,38 @@
  private:
   void set_preloaded(bool preloaded) { preloaded_ = preloaded; }
 
+  void set_pivot_goal(
+      control_loops::superstructure::PivotGoal requested_pivot_goal) {
+    pivot_goal_ = requested_pivot_goal;
+  }
+
+  void set_roller_goal(
+      control_loops::superstructure::RollerGoal requested_roller_goal) {
+    roller_goal_ = requested_roller_goal;
+  }
+
   void SendSuperstructureGoal();
 
+  [[nodiscard]] bool WaitForPreloaded();
+
+  void HighScore();
+  void MidScore();
+  void LowScore();
+  void Spit();
+  void SpitHigh();
+  void StopSpitting();
+  void Pickup();
+  void Intake();
+  void Neutral();
+
   void Reset();
 
   void SendStartingPosition(const Eigen::Vector3d &start);
   void MaybeSendStartingPosition();
   void Replan();
+  void ChargedUp();
+  void ChargedUpMiddle();
+  void OnePieceMiddle();
 
   aos::Sender<frc971::control_loops::drivetrain::LocalizerControl>
       localizer_control_sender_;
@@ -51,11 +78,16 @@
 
   bool preloaded_ = false;
 
+  control_loops::superstructure::PivotGoal pivot_goal_;
+  control_loops::superstructure::RollerGoal roller_goal_;
+
   aos::Sender<control_loops::superstructure::Goal> superstructure_goal_sender_;
   aos::Fetcher<y2023_bot3::control_loops::superstructure::Status>
       superstructure_status_fetcher_;
 
   std::optional<SplineHandle> test_spline_;
+  std::optional<std::array<SplineHandle, 4>> charged_up_splines_;
+  std::optional<std::array<SplineHandle, 1>> charged_up_middle_splines_;
 };
 
 }  // namespace autonomous