commit 39f26f66eedcdec248c7bebe953350aba334a0d7
author Austin Schuh <austin.linux@gmail.com> Thu Feb 24 21:34:46 2022 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Feb 26 15:51:49 2022 -0800
tree 87f1e7722fa084633bce5eb6d9a8a1250bcd6ecd
parent e2f40d7d59c43b2c827a39569930810af66e8850

Add catapult MPC and controller class

We want to shoot with the MPC, but we want to decelerate and reset with
a more traditional controller.  So, transition to the MPC, and back to a
profiled subsystem.

This makes some tweaks to the solver to get it to converge more
reliably.  There's apparently a scale factor which was scaling down the
cost matrices based on the initial p matrix, causing it to not solve
reliably...  Good fun.

Change-Id: I721eeaf0b214f8f03cad3112acbef1477671e533
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

y2022/control_loops/superstructure/BUILD

diff --git a/y2022/control_loops/superstructure/BUILD b/y2022/control_loops/superstructure/BUILD
index e5992ef..f08bb80 100644
--- a/y2022/control_loops/superstructure/BUILD
+++ b/y2022/control_loops/superstructure/BUILD
@@ -76,6 +76,7 @@
         "//frc971/control_loops:control_loop",
         "//frc971/control_loops/drivetrain:drivetrain_status_fbs",
         "//y2022:constants",
+        "//y2022/control_loops/superstructure/catapult",
     ],
 )