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

y2022/control_loops/superstructure/superstructure.h

diff --git a/y2022/control_loops/superstructure/superstructure.h b/y2022/control_loops/superstructure/superstructure.h
index 95e24d3..4c03a08 100644
--- a/y2022/control_loops/superstructure/superstructure.h
+++ b/y2022/control_loops/superstructure/superstructure.h
@@ -1,8 +1,8 @@
 #ifndef Y2022_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_
 #define Y2022_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_
 
-#include "frc971/control_loops/control_loop.h"
 #include "aos/events/event_loop.h"
+#include "frc971/control_loops/control_loop.h"
 #include "y2022/constants.h"
 #include "y2022/control_loops/superstructure/superstructure_goal_generated.h"
 #include "y2022/control_loops/superstructure/superstructure_output_generated.h"
@@ -16,6 +16,11 @@
 class Superstructure
     : public ::frc971::controls::ControlLoop<Goal, Position, Status, Output> {
  public:
+  using RelativeEncoderSubsystem =
+      ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystem<
+          ::frc971::zeroing::RelativeEncoderZeroingEstimator,
+          ::frc971::control_loops::RelativeEncoderProfiledJointStatus>;
+
   explicit Superstructure(::aos::EventLoop *event_loop,
                           const ::std::string &name = "/superstructure");
 
@@ -25,6 +30,8 @@
                             aos::Sender<Status>::Builder *status) override;
 
  private:
+  RelativeEncoderSubsystem climber_;
+
   DISALLOW_COPY_AND_ASSIGN(Superstructure);
 };