Added shooter and tests.
Added the shooter into the main superstructure and added tests.
Change-Id: I6c9afe3c74a08251854805050c40fafdca90fba8
diff --git a/y2020/control_loops/superstructure/superstructure.h b/y2020/control_loops/superstructure/superstructure.h
index 2bc0cda..d8ce917 100644
--- a/y2020/control_loops/superstructure/superstructure.h
+++ b/y2020/control_loops/superstructure/superstructure.h
@@ -4,6 +4,7 @@
#include "aos/controls/control_loop.h"
#include "aos/events/event_loop.h"
#include "y2020/constants.h"
+#include "y2020/control_loops/superstructure/shooter/shooter.h"
#include "y2020/control_loops/superstructure/superstructure_goal_generated.h"
#include "y2020/control_loops/superstructure/superstructure_output_generated.h"
#include "y2020/control_loops/superstructure/superstructure_position_generated.h"
@@ -32,6 +33,7 @@
const AbsoluteEncoderSubsystem &hood() const { return hood_; }
const AbsoluteEncoderSubsystem &intake_joint() const { return intake_joint_; }
const PotAndAbsoluteEncoderSubsystem &turret() const { return turret_; }
+ const shooter::Shooter &shooter() const { return shooter_; }
protected:
virtual void RunIteration(const Goal *unsafe_goal, const Position *position,
@@ -42,6 +44,7 @@
AbsoluteEncoderSubsystem hood_;
AbsoluteEncoderSubsystem intake_joint_;
PotAndAbsoluteEncoderSubsystem turret_;
+ shooter::Shooter shooter_;
Climber climber_;
DISALLOW_COPY_AND_ASSIGN(Superstructure);