Began shooter integration in superstructure class.
This adds the shooter control loops to the superstructure class.
Change-Id: Ia54550a8c9598349347df7df8e07d81becd1673e
diff --git a/y2017/control_loops/superstructure/superstructure.cc b/y2017/control_loops/superstructure/superstructure.cc
index f579292..99de502 100644
--- a/y2017/control_loops/superstructure/superstructure.cc
+++ b/y2017/control_loops/superstructure/superstructure.cc
@@ -26,13 +26,13 @@
hood_.Reset();
turret_.Reset();
intake_.Reset();
+ shooter_.Reset();
}
hood_.Iterate(unsafe_goal != nullptr ? &(unsafe_goal->hood) : nullptr,
&(position->hood),
output != nullptr ? &(output->voltage_hood) : nullptr,
&(status->hood));
-
turret_.Iterate(unsafe_goal != nullptr ? &(unsafe_goal->turret) : nullptr,
&(position->turret),
output != nullptr ? &(output->voltage_turret) : nullptr,
@@ -42,6 +42,10 @@
&(position->intake),
output != nullptr ? &(output->voltage_intake) : nullptr,
&(status->intake));
+ shooter_.Iterate(unsafe_goal != nullptr ? &(unsafe_goal->shooter) : nullptr,
+ &(position->theta_shooter),
+ output != nullptr ? &(output->voltage_shooter) : nullptr,
+ &(status->shooter));
}
} // namespace superstructure