changed to only update one plant, copied and renamed some code from last year's wrist
diff --git a/frc971/control_loops/shooter/shooter.cc b/frc971/control_loops/shooter/shooter.cc
new file mode 100644
index 0000000..3d3e7ae
--- /dev/null
+++ b/frc971/control_loops/shooter/shooter.cc
@@ -0,0 +1,80 @@
+#include "frc971/control_loops/shooters/shooters.h"
+
+#include <stdio.h>
+
+#include <algorithm>
+
+#include "aos/common/control_loop/control_loops.q.h"
+#include "aos/common/logging/logging.h"
+
+#include "frc971/constants.h"
+#include "frc971/control_loops/shooters/top_shooter_motor_plant.h"
+#include "frc971/control_loops/shooters/bottom_shooter_motor_plant.h"
+
+namespace frc971 {
+namespace control_loops {
+
+ShooterMotor::ShooterMotor(control_loops::ShooterLoop *my_shooter)
+ : aos::control_loops::ControlLoop<control_loops::ShooterLoop>(my_shooter),
+ zeroed_joint_(MakeShooterLoop()) {
+ {
+ using ::frc971::constants::GetValues;
+ ZeroedJoint<1>::ConfigurationData config_data;
+
+ config_data.lower_limit = GetValues().shooter_lower_limit;
+ config_data.upper_limit = GetValues().shooter_upper_limit;
+ config_data.hall_effect_start_angle[0] =
+ GetValues().shooter_hall_effect_start_angle;
+ config_data.zeroing_off_speed = GetValues().shooter_zeroing_off_speed;
+ config_data.zeroing_speed = GetValues().shooter_zeroing_speed;
+
+ config_data.max_zeroing_voltage = 5.0;
+ config_data.deadband_voltage = 0.0;
+
+ zeroed_joint_.set_config_data(config_data);
+ }
+}
+
+// Positive angle is up, and positive power is up.
+void ShooterMotor::RunIteration(
+ const ::aos::control_loops::Goal *goal,
+ const control_loops::ShooterLoop::Position *position,
+ ::aos::control_loops::Output *output,
+ ::aos::control_loops::Status * status) {
+
+ // Disable the motors now so that all early returns will return with the
+ // motors disabled.
+ if (output) {
+ output->voltage = 0;
+ }
+
+ ZeroedJoint<1>::PositionData transformed_position;
+ ZeroedJoint<1>::PositionData *transformed_position_ptr =
+ &transformed_position;
+ if (!position) {
+ transformed_position_ptr = NULL;
+ } else {
+ transformed_position.position = position->pos;
+ transformed_position.hall_effects[0] = position->hall_effect;
+ transformed_position.hall_effect_positions[0] = position->calibration;
+ }
+
+ const double voltage = zeroed_joint_.Update(transformed_position_ptr,
+ output != NULL,
+ goal->goal, 0.0);
+
+ if (position) {
+ LOG(DEBUG, "pos: %f hall: %s absolute: %f\n",
+ position->pos,
+ position->hall_effect ? "true" : "false",
+ zeroed_joint_.absolute_position());
+ }
+
+ if (output) {
+ output->voltage = voltage;
+ }
+ status->done = ::std::abs(zeroed_joint_.absolute_position() - goal->goal) < 0.004;
+}
+
+} // namespace control_loops
+} // namespace frc971
diff --git a/frc971/control_loops/shooter/shooter_motor_plant.cc b/frc971/control_loops/shooter/shooter_motor_plant.cc
new file mode 100644
index 0000000..1b0e13c
--- /dev/null
+++ b/frc971/control_loops/shooter/shooter_motor_plant.cc
@@ -0,0 +1,47 @@
+#include "frc971/control_loops/shooter/shooter_motor_plant.h"
+
+#include <vector>
+
+#include "frc971/control_loops/state_feedback_loop.h"
+
+namespace frc971 {
+namespace control_loops {
+
+StateFeedbackPlantCoefficients<3, 1, 1> MakeShooterPlantCoefficients() {
+ Eigen::Matrix<double, 3, 3> A;
+ A << 1.0, 0.00988697090637, 0.000120553991591, 0.0, 0.977479674375, 0.0240196135246, 0.0, 0.0, 1.0;
+ Eigen::Matrix<double, 3, 1> B;
+ B << 0.0, 0.0, 1.0;
+ Eigen::Matrix<double, 1, 3> C;
+ C << 1.0, 0.0, 0.0;
+ Eigen::Matrix<double, 1, 1> D;
+ D << 0.0;
+ Eigen::Matrix<double, 1, 1> U_max;
+ U_max << 12.0;
+ Eigen::Matrix<double, 1, 1> U_min;
+ U_min << -12.0;
+ return StateFeedbackPlantCoefficients<3, 1, 1>(A, B, C, D, U_max, U_min);
+}
+
+StateFeedbackController<3, 1, 1> MakeShooterController() {
+ Eigen::Matrix<double, 3, 1> L;
+ L << 1.97747967438, 101.419434198, 375.761249895;
+ Eigen::Matrix<double, 1, 3> K;
+ K << 243.5509628, 18.9166116502, 1.27747967438;
+ return StateFeedbackController<3, 1, 1>(L, K, MakeShooterPlantCoefficients());
+}
+
+StateFeedbackPlant<3, 1, 1> MakeShooterPlant() {
+ ::std::vector<StateFeedbackPlantCoefficients<3, 1, 1> *> plants(1);
+ plants[0] = new StateFeedbackPlantCoefficients<3, 1, 1>(MakeShooterPlantCoefficients());
+ return StateFeedbackPlant<3, 1, 1>(plants);
+}
+
+StateFeedbackLoop<3, 1, 1> MakeShooterLoop() {
+ ::std::vector<StateFeedbackController<3, 1, 1> *> controllers(1);
+ controllers[0] = new StateFeedbackController<3, 1, 1>(MakeShooterController());
+ return StateFeedbackLoop<3, 1, 1>(controllers);
+}
+
+} // namespace control_loops
+} // namespace frc971
diff --git a/frc971/control_loops/shooter/shooter_motor_plant.h b/frc971/control_loops/shooter/shooter_motor_plant.h
new file mode 100644
index 0000000..f23a38f
--- /dev/null
+++ b/frc971/control_loops/shooter/shooter_motor_plant.h
@@ -0,0 +1,20 @@
+#ifndef FRC971_CONTROL_LOOPS_SHOOTER_SHOOTER_MOTOR_PLANT_H_
+#define FRC971_CONTROL_LOOPS_SHOOTER_SHOOTER_MOTOR_PLANT_H_
+
+#include "frc971/control_loops/state_feedback_loop.h"
+
+namespace frc971 {
+namespace control_loops {
+
+StateFeedbackPlantCoefficients<3, 1, 1> MakeShooterPlantCoefficients();
+
+StateFeedbackController<3, 1, 1> MakeShooterController();
+
+StateFeedbackPlant<3, 1, 1> MakeShooterPlant();
+
+StateFeedbackLoop<3, 1, 1> MakeShooterLoop();
+
+} // namespace control_loops
+} // namespace frc971
+
+#endif // FRC971_CONTROL_LOOPS_SHOOTER_SHOOTER_MOTOR_PLANT_H_