commit 18a901d2f28313146890adbf9c04a279cabe097b
author milind-u <milind.upadhyay@gmail.com> Fri Feb 17 21:51:55 2023 -0800
committer Austin Schuh <austin.linux@gmail.com> Wed Feb 22 20:44:25 2023 -0800
tree 7071496a6ff1c59d7d31687c1b0aae715eeefe62
parent b83e1c721a749c91f089181c2d008ccd5625c69b

Add roll joint to superstructure and arm UI

Arm UI changes:
- Update robot dimensions
- Support visualizing roll joint
- Add roll joint collision detection

Superstructure changes:
- Adding roll joint feedback loop and zeroing estimator

Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Change-Id: I422e343890248940bba98ba3cabac94e68723a3e

y2023/constants.h

diff --git a/y2023/constants.h b/y2023/constants.h
index 0475242..66811a3 100644
--- a/y2023/constants.h
+++ b/y2023/constants.h
@@ -164,8 +164,7 @@
 
   ArmJointConstants arm_proximal;
   ArmJointConstants arm_distal;
-
-  PotAndAbsEncoderConstants roll_joint;
+  ArmJointConstants roll_joint;
 
   ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemParams<
       ::frc971::zeroing::AbsoluteEncoderZeroingEstimator>