commit 0e37f59ce4d78fdcc64f7a46e5e453c18b919f2a
author Siddhant Kanwar <kanwarsiddhant@gmail.com> Mon Feb 21 19:26:50 2022 -0800
committer Austin Schuh <austin.linux@gmail.com> Mon Feb 21 21:42:36 2022 -0800
tree bc04607ad7397030a25144e7fff580e95c9a525d
parent 039d75607dee56e3dc35b39a860702d7f583d6b6

Add climber code without tests

This runs a loop to follow the request.

Signed-off-by: Siddhant Kanwar <kanwarsiddhant@gmail.com>
Change-Id: Iad516390561175f74eb33e0cda6a505376a372ed

frc971/zeroing/relative_encoder_test.cc

diff --git a/frc971/zeroing/relative_encoder_test.cc b/frc971/zeroing/relative_encoder_test.cc
index fd86fb3..a29ba4b 100644
--- a/frc971/zeroing/relative_encoder_test.cc
+++ b/frc971/zeroing/relative_encoder_test.cc
@@ -1,8 +1,6 @@
 #include "frc971/zeroing/zeroing.h"
-
-#include "gtest/gtest.h"
-
 #include "frc971/zeroing/zeroing_test.h"
+#include "gtest/gtest.h"
 
 namespace frc971 {
 namespace zeroing {
@@ -21,7 +19,8 @@
 
 TEST_F(RelativeEncoderZeroingTest, TestRelativeEncoderZeroingWithoutMovement) {
   PositionSensorSimulator sim(1.0);
-  RelativeEncoderZeroingEstimator estimator;
+  RelativeEncoderZeroingEstimator estimator{
+      constants::RelativeEncoderZeroingConstants{}};
 
   sim.InitializeRelativeEncoder();
 

frc971/zeroing/zeroing.h

diff --git a/frc971/zeroing/zeroing.h b/frc971/zeroing/zeroing.h
index 0e90e3f..028194c 100644
--- a/frc971/zeroing/zeroing.h
+++ b/frc971/zeroing/zeroing.h
@@ -126,10 +126,12 @@
 
 // A trivial ZeroingEstimator which just passes the position straight through.
 class RelativeEncoderZeroingEstimator
-    : public ZeroingEstimator<RelativePosition, void,
+    : public ZeroingEstimator<RelativePosition,
+                              constants::RelativeEncoderZeroingConstants,
                               RelativeEncoderEstimatorState> {
  public:
-  explicit RelativeEncoderZeroingEstimator() {}
+  explicit RelativeEncoderZeroingEstimator(
+      const constants::RelativeEncoderZeroingConstants &) {}
 
   // Update position with new position from encoder
   void UpdateEstimate(const RelativePosition &position) override {