commit f8b7bfedb4007be862afcd270d16a8843bc92c6b
author Ravago Jones <ravagojones@gmail.com> Sat Oct 09 16:25:29 2021 -0700
committer Ravago Jones <ravagojones@gmail.com> Sun Oct 10 18:16:16 2021 -0700
tree 849087e226e49bdf0a50fd968d795dbc1bb461bf
parent 07d921f5ba72cf0f626fb583fd940e5bb7110c42

Pre-serialize balls while intaking

Change-Id: I90d1b515748bad727d8e8b2d659b8e59ca545e80
Signed-off-by: Ravago Jones <ravagojones@gmail.com>

y2020/actors/autonomous_actor.cc

diff --git a/y2020/actors/autonomous_actor.cc b/y2020/actors/autonomous_actor.cc
index 794d1e7..c504fb4 100644
--- a/y2020/actors/autonomous_actor.cc
+++ b/y2020/actors/autonomous_actor.cc
@@ -195,6 +195,7 @@
 
   set_intake_goal(1.25);
   set_roller_voltage(12.0);
+  set_intake_preloading(true);
   SendSuperstructureGoal();
 
   if (!spline->WaitForPlan()) return;
@@ -306,6 +307,7 @@
       builder.MakeBuilder<superstructure::Goal>();
 
   superstructure_builder.add_intake(intake_offset);
+  superstructure_builder.add_intake_preloading(intake_preloading_);
   superstructure_builder.add_roller_voltage(roller_voltage_);
   superstructure_builder.add_roller_speed_compensation(
       kRollerSpeedCompensation);
@@ -318,6 +320,7 @@
 void AutonomousActor::RetractIntake() {
   set_intake_goal(-0.89);
   set_roller_voltage(0.0);
+  set_intake_preloading(false);
   SendSuperstructureGoal();
 }
 

y2020/actors/autonomous_actor.h

diff --git a/y2020/actors/autonomous_actor.h b/y2020/actors/autonomous_actor.h
index 7bdb44b..1bb864e 100644
--- a/y2020/actors/autonomous_actor.h
+++ b/y2020/actors/autonomous_actor.h
@@ -8,9 +8,9 @@
 #include "frc971/control_loops/drivetrain/drivetrain_config.h"
 #include "frc971/control_loops/drivetrain/localizer_generated.h"
 #include "y2020/actors/auto_splines.h"
-#include "y2020/vision/galactic_search_path_generated.h"
 #include "y2020/control_loops/superstructure/superstructure_goal_generated.h"
 #include "y2020/control_loops/superstructure/superstructure_status_generated.h"
+#include "y2020/vision/galactic_search_path_generated.h"
 
 namespace y2020 {
 namespace actors {
@@ -30,6 +30,9 @@
   void Reset();
 
   void set_intake_goal(double intake_goal) { intake_goal_ = intake_goal; }
+  void set_intake_preloading(bool intake_preloading) {
+    intake_preloading_ = intake_preloading;
+  }
   void set_roller_voltage(double roller_voltage) {
     roller_voltage_ = roller_voltage;
   }
@@ -48,6 +51,7 @@
 
   double intake_goal_ = 0.0;
   double roller_voltage_ = 0.0;
+  bool intake_preloading_ = false;
   const float kRollerSpeedCompensation = 2.0;
 
   aos::Sender<frc971::control_loops::drivetrain::LocalizerControl>