Swap SZSDPS to use ProfileParametersT
Change-Id: I1af9552a0c95d38d6b43f03444c1416f3314f4d0
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2020/constants.cc b/y2020/constants.cc
index 6218f9b..e30ef0e 100644
--- a/y2020/constants.cc
+++ b/y2020/constants.cc
@@ -57,8 +57,8 @@
// Hood constants.
hood->zeroing_voltage = 2.0;
hood->operating_voltage = 12.0;
- hood->zeroing_profile_params = {0.5, 3.0};
- hood->default_profile_params = {6.0, 30.0};
+ hood->zeroing_profile_params = {{}, 0.5, 3.0};
+ hood->default_profile_params = {{}, 6.0, 30.0};
hood->range = Values::kHoodRange();
hood->make_integral_loop =
control_loops::superstructure::hood::MakeIntegralHoodLoop;
@@ -90,8 +90,8 @@
// 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;
@@ -112,8 +112,8 @@
turret_params->zeroing_voltage = 4.0;
turret_params->operating_voltage = 8.0;
// TODO(austin): Tune these.
- turret_params->zeroing_profile_params = {0.5, 2.0};
- turret_params->default_profile_params = {15.0, 40.0};
+ turret_params->zeroing_profile_params = {{}, 0.5, 2.0};
+ turret_params->default_profile_params = {{}, 15.0, 40.0};
turret_params->range = Values::kTurretRange();
turret_params->make_integral_loop =
&control_loops::superstructure::turret::MakeIntegralTurretLoop;