commit f70107e10720d772ac8ede3e96d72ea5ae1fc339
author Ravago Jones <ravagojones@gmail.com> Tue Apr 12 15:05:56 2022 -0700
committer Ravago Jones <ravagojones@gmail.com> Fri Apr 15 13:22:16 2022 -0800
tree ab48d7e01a257cdb604e80fa69356c2bacb6251d
parent d2b64538ed5e0ef5d2bf8b10e77de36565b8dd61

Make spit button smarter

Adds a third spit button that spits the side that has a ball.

Signed-off-by: Ravago Jones <ravagojones@gmail.com>
Change-Id: I6842750d157d1c131f59bdf1abcf906e34f568a8

y2022/control_loops/superstructure/superstructure.cc

diff --git a/y2022/control_loops/superstructure/superstructure.cc b/y2022/control_loops/superstructure/superstructure.cc
index 8ff1e1c..21a38d3 100644
--- a/y2022/control_loops/superstructure/superstructure.cc
+++ b/y2022/control_loops/superstructure/superstructure.cc
@@ -239,7 +239,7 @@
     back_intake_beambreak_timer_ = timestamp;
   }
 
-  // Check if we're either spitting of have lost the ball.
+  // Check if we're either spitting or have lost the ball.
   if ((transfer_roller_speed < 0.0 && front_intake_has_ball_) ||
       timestamp >
           front_intake_beambreak_timer_ + constants::Values::kBallLostTime()) {