Designed a shooter loop using voltage error estimation.
This gets rid of all the corner cases with the moving position style
loop from before, and doesn't have overshoot issues like standard
integral loops have.
Change-Id: I4e4eb1767038563cf851040ce8218e73ca60904a
diff --git a/y2016/control_loops/shooter/BUILD b/y2016/control_loops/shooter/BUILD
index cb3c0bc..c641a7d 100644
--- a/y2016/control_loops/shooter/BUILD
+++ b/y2016/control_loops/shooter/BUILD
@@ -23,6 +23,8 @@
outs = [
'shooter_plant.h',
'shooter_plant.cc',
+ 'shooter_integral_plant.h',
+ 'shooter_integral_plant.cc',
],
)
@@ -30,9 +32,11 @@
name = 'shooter_plants',
srcs = [
'shooter_plant.cc',
+ 'shooter_integral_plant.cc',
],
hdrs = [
'shooter_plant.h',
+ 'shooter_integral_plant.h',
],
deps = [
'//frc971/control_loops:state_feedback_loop',