Added Vacuum class and test
Change-Id: I4c25946b71a0054791a2fc1305eb8ef509a147b1
diff --git a/y2019/control_loops/superstructure/superstructure.h b/y2019/control_loops/superstructure/superstructure.h
index 9879e17..626c84b 100644
--- a/y2019/control_loops/superstructure/superstructure.h
+++ b/y2019/control_loops/superstructure/superstructure.h
@@ -6,6 +6,7 @@
#include "y2019/constants.h"
#include "y2019/control_loops/superstructure/collision_avoidance.h"
#include "y2019/control_loops/superstructure/superstructure.q.h"
+#include "y2019/control_loops/superstructure/vacuum.h"
namespace y2019 {
namespace control_loops {
@@ -32,6 +33,7 @@
const PotAndAbsoluteEncoderSubsystem &wrist() const { return wrist_; }
const AbsoluteEncoderSubsystem &intake() const { return intake_; }
const PotAndAbsoluteEncoderSubsystem &stilts() const { return stilts_; }
+ const Vacuum &vacuum() const { return vacuum_; }
protected:
virtual void RunIteration(const SuperstructureQueue::Goal *unsafe_goal,
@@ -40,16 +42,13 @@
SuperstructureQueue::Status *status) override;
private:
- void HandleSuction(const SuctionGoal *unsafe_goal, float suction_pressure,
- SuperstructureQueue::Output *output, bool *has_piece);
-
PotAndAbsoluteEncoderSubsystem elevator_;
PotAndAbsoluteEncoderSubsystem wrist_;
AbsoluteEncoderSubsystem intake_;
PotAndAbsoluteEncoderSubsystem stilts_;
+ Vacuum vacuum_;
CollisionAvoidance collision_avoidance_;
- int vacuum_count_ = 0;
static constexpr double kMinIntakeAngleForRollers = -0.7;