Added indexer support, with stall detection.
Re-tuned some other loops while I was learning more about the indexer.
Change-Id: I893f1f273b31357ae9137601ca27322fc3b09d98
diff --git a/y2017/control_loops/superstructure/superstructure.h b/y2017/control_loops/superstructure/superstructure.h
index 4dc99a5..575d1d3 100644
--- a/y2017/control_loops/superstructure/superstructure.h
+++ b/y2017/control_loops/superstructure/superstructure.h
@@ -6,10 +6,11 @@
#include "aos/common/controls/control_loop.h"
#include "frc971/control_loops/state_feedback_loop.h"
#include "y2017/control_loops/superstructure/hood/hood.h"
-#include "y2017/control_loops/superstructure/turret/turret.h"
+#include "y2017/control_loops/superstructure/indexer/indexer.h"
#include "y2017/control_loops/superstructure/intake/intake.h"
-#include "y2017/control_loops/superstructure/superstructure.q.h"
#include "y2017/control_loops/superstructure/shooter/shooter.h"
+#include "y2017/control_loops/superstructure/superstructure.q.h"
+#include "y2017/control_loops/superstructure/turret/turret.h"
namespace y2017 {
namespace control_loops {
@@ -25,6 +26,8 @@
const hood::Hood &hood() const { return hood_; }
const turret::Turret &turret() const { return turret_; }
const intake::Intake &intake() const { return intake_; }
+ const shooter::Shooter &shooter() const { return shooter_; }
+ const indexer::Indexer &indexer() const { return indexer_; }
protected:
virtual void RunIteration(
@@ -38,6 +41,7 @@
turret::Turret turret_;
intake::Intake intake_;
shooter::Shooter shooter_;
+ indexer::Indexer indexer_;
DISALLOW_COPY_AND_ASSIGN(Superstructure);
};