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();
 }