Add interpolation table boilerplate
Change-Id: I599821c53366e85a9b11a48f7a47888372553773
Signed-off-by: Ravago Jones <ravagojones@gmail.com>
diff --git a/y2022/control_loops/superstructure/catapult/catapult.h b/y2022/control_loops/superstructure/catapult/catapult.h
index 0606c0d..6a2c834 100644
--- a/y2022/control_loops/superstructure/catapult/catapult.h
+++ b/y2022/control_loops/superstructure/catapult/catapult.h
@@ -210,14 +210,11 @@
// shooting or not. Returns the status.
const flatbuffers::Offset<
frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus>
- Iterate(const Goal *unsafe_goal, const Position *position,
+ Iterate(const CatapultGoal *unsafe_goal, const Position *position,
double battery_voltage, double *catapult_voltage, bool fire,
flatbuffers::FlatBufferBuilder *fbb);
private:
- // TODO(austin): Prototype is just an encoder. Catapult has both an encoder
- // and pot. Switch back once we have a catapult.
- // PotAndAbsoluteEncoderSubsystem catapult_;
PotAndAbsoluteEncoderSubsystem catapult_;
catapult::CatapultController catapult_mpc_;
@@ -226,6 +223,9 @@
CatapultState catapult_state_ = CatapultState::PROFILE;
+ double latched_shot_position = 0.0;
+ double latched_shot_velocity = 0.0;
+
bool last_firing_ = false;
bool use_profile_ = true;