commit 79900c24f61f6126713e5f5f637ed003a271b351
author Adam Snaider <adsnaider@gmail.com> Wed Feb 08 20:23:15 2017 -0800
committer Austin Schuh <austin.linux@gmail.com> Fri Feb 17 22:10:10 2017 -0800
tree c63a5c2fcbc331b759476b97d7fb1521d7291def
parent 5f01f15ed8d252276aac022a3642ca1bdf50acff

Added turret and intake code and tests.

Tests are from Adam.

Change-Id: I5a89700cfe2e9983771b4523facc302243b5dc50

y2017/control_loops/superstructure/superstructure.cc

diff --git a/y2017/control_loops/superstructure/superstructure.cc b/y2017/control_loops/superstructure/superstructure.cc
index 424af9a..f579292 100644
--- a/y2017/control_loops/superstructure/superstructure.cc
+++ b/y2017/control_loops/superstructure/superstructure.cc
@@ -4,6 +4,8 @@
 #include "aos/common/logging/logging.h"
 #include "y2017/constants.h"
 #include "y2017/control_loops/superstructure/hood/hood.h"
+#include "y2017/control_loops/superstructure/turret/turret.h"
+#include "y2017/control_loops/superstructure/intake/intake.h"
 
 namespace y2017 {
 namespace control_loops {
@@ -22,12 +24,24 @@
   if (WasReset()) {
     LOG(ERROR, "WPILib reset, restarting\n");
     hood_.Reset();
+    turret_.Reset();
+    intake_.Reset();
   }
 
   hood_.Iterate(unsafe_goal != nullptr ? &(unsafe_goal->hood) : nullptr,
                 &(position->hood),
                 output != nullptr ? &(output->voltage_hood) : nullptr,
                 &(status->hood));
+
+  turret_.Iterate(unsafe_goal != nullptr ? &(unsafe_goal->turret) : nullptr,
+                &(position->turret),
+                output != nullptr ? &(output->voltage_turret) : nullptr,
+                &(status->turret));
+
+  intake_.Iterate(unsafe_goal != nullptr ? &(unsafe_goal->intake) : nullptr,
+                  &(position->intake),
+                  output != nullptr ? &(output->voltage_intake) : nullptr,
+                  &(status->intake));
 }
 
 }  // namespace superstructure