commit 43684fa4ac36692de0be88035b806a7b41ae8abb
author Maxwell Henderson <maxwell.henderson@mailbox.org> Mon Nov 06 11:08:06 2023 -0800
committer Maxwell Henderson <maxwell.henderson@mailbox.org> Wed Nov 08 11:38:11 2023 -0800
tree 44f176715f019404fdbafde24432ff7bc03469d1
parent f90bdb20b1712a0d20dd69510884abf346f79bbf

Add pivot joint codegen

Signed-off-by: Nathan Leong <100028864@mvla.net>
Change-Id: I8b035349e44430218623c4d0dc883c2b06a605c2

y2023_bot3/control_loops/superstructure/superstructure.h

diff --git a/y2023_bot3/control_loops/superstructure/superstructure.h b/y2023_bot3/control_loops/superstructure/superstructure.h
index 808ff3b..212ced8 100644
--- a/y2023_bot3/control_loops/superstructure/superstructure.h
+++ b/y2023_bot3/control_loops/superstructure/superstructure.h
@@ -22,6 +22,11 @@
 class Superstructure
     : public ::frc971::controls::ControlLoop<Goal, Position, Status, Output> {
  public:
+  using PotAndAbsoluteEncoderSubsystem =
+      ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystem<
+          ::frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator,
+          ::frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus>;
+
   explicit Superstructure(::aos::EventLoop *event_loop,
                           std::shared_ptr<const constants::Values> values,
                           const ::std::string &name = "/superstructure");