commit 31c4535a39274328f3b1bf26892e0e9ba91509df
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Sun Jan 14 18:07:42 2024 -0800
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Mon Jan 15 12:59:35 2024 -0800
tree e5bab0674ea95b3ded86adb74e27d8ff89ac5c04
parent d12497a871bd6a3425b6002d39104c73ba1826d9

Swap SZSDPS to use ProfileParametersT

Change-Id: I1af9552a0c95d38d6b43f03444c1416f3314f4d0
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

y2019/constants.cc

diff --git a/y2019/constants.cc b/y2019/constants.cc
index 380899a..0332252 100644
--- a/y2019/constants.cc
+++ b/y2019/constants.cc
@@ -77,8 +77,8 @@
   // Elevator constants.
   elevator_params->zeroing_voltage = 3.0;
   elevator_params->operating_voltage = 12.0;
-  elevator_params->zeroing_profile_params = {0.1, 1.0};
-  elevator_params->default_profile_params = {4.0, 13.0};
+  elevator_params->zeroing_profile_params = {{}, 0.1, 1.0};
+  elevator_params->default_profile_params = {{}, 4.0, 13.0};
   elevator_params->range = Values::kElevatorRange();
   elevator_params->make_integral_loop =
       &control_loops::superstructure::elevator::MakeIntegralElevatorLoop;
@@ -93,8 +93,8 @@
   // Wrist constants.
   wrist_params->zeroing_voltage = 4.0;
   wrist_params->operating_voltage = 12.0;
-  wrist_params->zeroing_profile_params = {0.5, 2.0};
-  wrist_params->default_profile_params = {10.0, 40.0};
+  wrist_params->zeroing_profile_params = {{}, 0.5, 2.0};
+  wrist_params->default_profile_params = {{}, 10.0, 40.0};
   wrist_params->range = Values::kWristRange();
   wrist_params->make_integral_loop =
       &control_loops::superstructure::wrist::MakeIntegralWristLoop;
@@ -109,8 +109,8 @@
   // Intake constants.
   intake->zeroing_voltage = 3.0;
   intake->operating_voltage = 12.0;
-  intake->zeroing_profile_params = {0.5, 3.0};
-  intake->default_profile_params = {6.0, 30.0};
+  intake->zeroing_profile_params = {{}, 0.5, 3.0};
+  intake->default_profile_params = {{}, 6.0, 30.0};
   intake->range = Values::kIntakeRange();
   intake->make_integral_loop =
       control_loops::superstructure::intake::MakeIntegralIntakeLoop;
@@ -125,8 +125,8 @@
   // Stilts constants.
   stilts_params->zeroing_voltage = 3.0;
   stilts_params->operating_voltage = 12.0;
-  stilts_params->zeroing_profile_params = {0.1, 0.5};
-  stilts_params->default_profile_params = {0.15, 0.5};
+  stilts_params->zeroing_profile_params = {{}, 0.1, 0.5};
+  stilts_params->default_profile_params = {{}, 0.15, 0.5};
   stilts_params->range = Values::kStiltsRange();
   stilts_params->make_integral_loop =
       &control_loops::superstructure::stilts::MakeIntegralStiltsLoop;