Add Climber Constants
Signed-off-by: Filip Kujawa <filip.j.kujawa@gmail.com>
Change-Id: If56eca5a6b7a97ad6c0519d232086d7b0428c9d9
diff --git a/y2024/control_loops/superstructure/climber/BUILD b/y2024/control_loops/superstructure/climber/BUILD
new file mode 100644
index 0000000..4a044d2
--- /dev/null
+++ b/y2024/control_loops/superstructure/climber/BUILD
@@ -0,0 +1,42 @@
+package(default_visibility = ["//y2024:__subpackages__"])
+
+genrule(
+ name = "genrule_climber",
+ outs = [
+ "climber_plant.h",
+ "climber_plant.cc",
+ "climber_plant.json",
+ "integral_climber_plant.h",
+ "integral_climber_plant.cc",
+ "integral_climber_plant.json",
+ ],
+ cmd = "$(location //y2024/control_loops/python:climber) $(OUTS)",
+ target_compatible_with = ["@platforms//os:linux"],
+ tools = [
+ "//y2024/control_loops/python:climber",
+ ],
+)
+
+cc_library(
+ name = "climber_plants",
+ srcs = [
+ "climber_plant.cc",
+ "integral_climber_plant.cc",
+ ],
+ hdrs = [
+ "climber_plant.h",
+ "integral_climber_plant.h",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//frc971/control_loops:hybrid_state_feedback_loop",
+ "//frc971/control_loops:state_feedback_loop",
+ ],
+)
+
+filegroup(
+ name = "climber_json",
+ srcs = ["integral_climber_plant.json"],
+ visibility = ["//visibility:public"],
+)
diff --git a/y2024/control_loops/superstructure/superstructure.cc b/y2024/control_loops/superstructure/superstructure.cc
index 9a703e3..566c402 100644
--- a/y2024/control_loops/superstructure/superstructure.cc
+++ b/y2024/control_loops/superstructure/superstructure.cc
@@ -33,7 +33,7 @@
transfer_goal_(TransferRollerGoal::NONE),
intake_pivot_(
robot_constants_->common()->intake_pivot(),
- robot_constants_->robot()->intake_constants()->intake_pivot_zero()) {
+ robot_constants_->robot()->intake_constants()->zeroing_constants()) {
event_loop->SetRuntimeRealtimePriority(30);
}
diff --git a/y2024/control_loops/superstructure/superstructure_lib_test.cc b/y2024/control_loops/superstructure/superstructure_lib_test.cc
index 26e75e4..710de4b 100644
--- a/y2024/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2024/control_loops/superstructure/superstructure_lib_test.cc
@@ -56,13 +56,13 @@
new CappedTestPlant(intake_pivot::MakeIntakePivotPlant()),
PositionSensorSimulator(simulated_robot_constants->robot()
->intake_constants()
- ->intake_pivot_zero()
+ ->zeroing_constants()
->one_revolution_distance()),
{.subsystem_params =
{simulated_robot_constants->common()->intake_pivot(),
simulated_robot_constants->robot()
->intake_constants()
- ->intake_pivot_zero()},
+ ->zeroing_constants()},
.potentiometer_offset = simulated_robot_constants->robot()
->intake_constants()
->potentiometer_offset()},
@@ -70,7 +70,7 @@
simulated_robot_constants->common()->intake_pivot()->range()),
simulated_robot_constants->robot()
->intake_constants()
- ->intake_pivot_zero()
+ ->zeroing_constants()
->measured_absolute_position(),
dt_) {
intake_pivot_.InitializePosition(