MADE IT TO THE KNOCKOUT STAGEgit add .git add .git add .git add .git …

…add .git add .

src/app/inc/launch_task.h

@@ -4,7 +4,7 @@
 #include <stdint.h>
 #include "dji_motor.h"
 
-#define FLYWHEEL_VELOCITY_10 (3000.0f * M3508_REDUCTION_RATIO)
+#define FLYWHEEL_VELOCITY_LOW_FOR_DEBUG (1000.0f * M3508_REDUCTION_RATIO)
 #define FLYWHEEL_VELOCITY_30 (7000.0f * M3508_REDUCTION_RATIO)
 #define FEED_HOLE_NUM (6.0f)
 #define LAUNCH_FREQUENCY (20)

src/app/src/launch_task.c

@@ -93,7 +93,7 @@ void Feed_Angle_Calc()
     #ifdef HEAT_CONTROL
         if (Referee_System.Online_Flag)
         {
-            if (Referee_System.Robot_State.Shooter_Power_Output == 0)
+            if (Referee_System.Robot_State.Shooter_Power_Output == 0 || !g_launch_target.burst_launch_flag)
             {
                 g_launch_target.feed_angle = g_motor_feed->stats->total_angle_rad;
             } 

src/app/src/robot.c

@@ -212,6 +212,11 @@ void Robot_Cmd_Loop()
             {
                 g_robot_state.autoaiming_enabled = 0;
             }
+
+            if(Referee_System.Robot_State.Chassis_Power_Output == 0)
+            {
+                g_robot_state.spintop_mode = 0;
+            }
 
             /* Hardware Limits */
             g_robot_state.gimbal_yaw_angle = fmod(g_robot_state.gimbal_yaw_angle, 2 * PI);

src/devices/inc/referee_system.h

@@ -108,6 +108,7 @@ typedef struct
   	uint16_t Shooter_Heat_2;
 	uint8_t Shooting_Frequency;
 	float Shooting_Speed;
+	uint8_t Shooter_Power_Output;
 }Referee_Robot_State_t;
 
 typedef struct

src/devices/src/referee_system.c

@@ -34,6 +34,7 @@ void Referee_Set_Robot_State(void)
         Referee_Robot_State.Shooter_Heat_2 = Referee_System.Power_Heat.Shooter_2_17mm_Heat;
         Referee_Robot_State.Shooting_Frequency = Referee_System.Shooter.Frequency;
         Referee_Robot_State.Shooting_Speed = Referee_System.Shooter.Speed;
+        Referee_Robot_State.Shooter_Power_Output = Referee_System.Robot_State.Shooter_Power_Output;
     }
     else
     {