Wrist now moves in the test, but doesn't zero.
diff --git a/frc971/constants.h b/frc971/constants.h
index 2e8af5a..9de3a28 100644
--- a/frc971/constants.h
+++ b/frc971/constants.h
@@ -40,10 +40,6 @@
::std::function<StateFeedbackLoop<2, 2, 2>()> make_v_drivetrain_loop;
::std::function<StateFeedbackLoop<4, 2, 2>()> make_drivetrain_loop;
- double upper_claw_lower_limit;
- double upper_claw_upper_limit;
- double lower_claw_lower_limit;
- double lower_claw_upper_limit;
double claw_zeroing_off_speed;
double claw_zeroing_speed;
@@ -52,18 +48,21 @@
double claw_max_seperation;
// Three hall effects are known as front, calib and back
- double upper_claw_front_heffect_lower_angle;
- double upper_claw_front_heffect_upper_angle;
- double upper_claw_calib_heffect_lower_angle;
- double upper_claw_calib_heffect_upper_angle;
- double upper_claw_back_heffect_lower_angle;
- double upper_claw_back_heffect_upper_angle;
- double lower_claw_front_heffect_lower_angle;
- double lower_claw_front_heffect_upper_angle;
- double lower_claw_calib_heffect_lower_angle;
- double lower_claw_calib_heffect_upper_angle;
- double lower_claw_back_heffect_lower_angle;
- double lower_claw_back_heffect_upper_angle;
+ struct AnglePair {
+ double lower_angle;
+ double upper_angle;
+ };
+
+ struct Claw {
+ double lower_limit;
+ double upper_limit;
+ AnglePair front;
+ AnglePair calibration;
+ AnglePair back;
+ };
+
+ Claw upper_claw;
+ Claw lower_claw;
};
// Creates (once) a Values instance and returns a reference to it.