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/control_loops/superstructure/arm/BUILD

diff --git a/y2023/control_loops/superstructure/arm/BUILD b/y2023/control_loops/superstructure/arm/BUILD
index 0ef2cf9..032c654 100644
--- a/y2023/control_loops/superstructure/arm/BUILD
+++ b/y2023/control_loops/superstructure/arm/BUILD
@@ -10,15 +10,15 @@
     visibility = ["//visibility:public"],
     deps = [
         ":generated_graph",
-        "//frc971/control_loops/double_jointed_arm:demo_path",
         "//frc971/control_loops/double_jointed_arm:ekf",
         "//frc971/control_loops/double_jointed_arm:graph",
-        "//frc971/control_loops/double_jointed_arm:trajectory",
         "//frc971/zeroing",
         "//y2023:constants",
         "//y2023/control_loops/superstructure:superstructure_position_fbs",
         "//y2023/control_loops/superstructure:superstructure_status_fbs",
         "//y2023/control_loops/superstructure/arm:arm_constants",
+        "//y2023/control_loops/superstructure/arm:trajectory",
+        "//y2023/control_loops/superstructure/roll:roll_plants",
     ],
 )
 
@@ -49,7 +49,8 @@
     deps = [
         ":arm_constants",
         "//frc971/control_loops/double_jointed_arm:graph",
-        "//frc971/control_loops/double_jointed_arm:trajectory",
+        "//y2023/control_loops/superstructure/arm:trajectory",
+        "//y2023/control_loops/superstructure/roll:roll_plants",
     ],
 )