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/joystick_reader.cc

diff --git a/y2020/joystick_reader.cc b/y2020/joystick_reader.cc
index bb57997..6565460 100644
--- a/y2020/joystick_reader.cc
+++ b/y2020/joystick_reader.cc
@@ -107,6 +107,7 @@
     double accelerator_speed = 0.0;
     double finisher_speed = 0.0;
     double climber_speed = 0.0;
+    bool preload_intake = false;
 
     const bool auto_track = data.IsPressed(kAutoTrack);
 
@@ -143,6 +144,7 @@
       intake_pos = 1.2;
       roller_speed = 7.0f;
       roller_speed_compensation = 2.0f;
+      preload_intake = true;
     }
 
     if (superstructure_status_fetcher_.get() &&
@@ -154,6 +156,7 @@
     if (data.IsPressed(kIntakeIn)) {
       roller_speed = 6.0f;
       roller_speed_compensation = 2.0f;
+      preload_intake = true;
     } else if (data.IsPressed(kSpit)) {
       roller_speed = -6.0f;
     }
@@ -205,6 +208,7 @@
       superstructure_goal_builder.add_turret_tracking(auto_track);
       superstructure_goal_builder.add_hood_tracking(auto_track);
       superstructure_goal_builder.add_shooter_tracking(auto_track);
+      superstructure_goal_builder.add_intake_preloading(preload_intake);
 
       if (!builder.Send(superstructure_goal_builder.Finish())) {
         AOS_LOG(ERROR, "Sending superstructure goal failed.\n");