commit 373851897d4128f655b751af6182f72fbaf28d49
author milind-u <milind.upadhyay@gmail.com> Mon Feb 20 15:07:28 2023 -0800
committer milind-u <milind.upadhyay@gmail.com> Mon Feb 20 15:37:02 2023 -0800
tree 9194759b03b462448e1eeae669af108e85aa551e
parent a7af5165b0522e22be5983a7652c75ee1681112f

Add arm code to 2023

Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: If97b4dd4c8fb16371e21ac6e9667a2d52b1b53a6

y2023/control_loops/python/graph_codegen.py

diff --git a/y2023/control_loops/python/graph_codegen.py b/y2023/control_loops/python/graph_codegen.py
index 06f036e..667a78d 100644
--- a/y2023/control_loops/python/graph_codegen.py
+++ b/y2023/control_loops/python/graph_codegen.py
@@ -27,11 +27,11 @@
     cc_file.append("                             %s," % (alpha_unitizer))
     if reverse:
         cc_file.append(
-            "                             Trajectory(dynamics, Path::Reversed(%s()), 0.005, kArmConstants));"
+            "                             Trajectory(dynamics, Path::Reversed(%s()), 0.005));"
             % (path_function_name(str(name))))
     else:
         cc_file.append(
-            "                             Trajectory(dynamics, %s(), 0.005, kArmConstants));"
+            "                             Trajectory(dynamics, %s(), 0.005));"
             % (path_function_name(str(name))))
 
     start_index = None
@@ -202,11 +202,11 @@
     h_file.append("                            double vmax);")
     cc_file.append("SearchGraph MakeSearchGraph("
                    "const frc971::control_loops::arm::Dynamics *dynamics, "
-                   "::std::vector<TrajectoryAndParams> * /*trajectories*/,")
+                   "::std::vector<TrajectoryAndParams> *trajectories,")
     cc_file.append("                            "
-                   "const ::Eigen::Matrix<double, 2, 2> & /*alpha_unitizer*/,")
+                   "const ::Eigen::Matrix<double, 2, 2> &alpha_unitizer,")
     cc_file.append("                            "
-                   "double /*vmax*/) {")
+                   "double vmax) {")
     cc_file.append("  ::std::vector<SearchGraph::Edge> edges;")
 
     index = 0