commit 4d4be54323c857f279ffa502c1677ad4bb16586b
author Maxwell Henderson <maxwell.henderson@mailbox.org> Wed Nov 29 18:26:13 2023 -0800
committer Maxwell Henderson <mxwhenderson@gmail.com> Tue Dec 26 11:11:56 2023 -0800
tree 5bb245315ae2f6c40bed16510d2a973a34bc279d
parent 6a8aac30d86a36d149b2ba55538a920b4370d4cc

Remove pivot, end_effector, and rollers from bot3

This is done because the 3rd robot no longer has them on it,
it won't run without removing them in the code.

Signed-off-by: Maxwell Henderson <maxwell.henderson@mailbox.org>
Change-Id: I3154382fd17e1de5167e4bd242c13318dc227179

y2023_bot3/control_loops/superstructure/superstructure.cc

diff --git a/y2023_bot3/control_loops/superstructure/superstructure.cc b/y2023_bot3/control_loops/superstructure/superstructure.cc
index 6061a76..e77245e 100644
--- a/y2023_bot3/control_loops/superstructure/superstructure.cc
+++ b/y2023_bot3/control_loops/superstructure/superstructure.cc
@@ -23,9 +23,7 @@
                                const ::std::string &name)
     : frc971::controls::ControlLoop<Goal, Position, Status, Output>(event_loop,
                                                                     name),
-      values_(values),
-      end_effector_(),
-      pivot_joint_(values) {
+      values_(values) {
   event_loop->SetRuntimeRealtimePriority(30);
 }
 
@@ -33,41 +31,23 @@
                                   const Position *position,
                                   aos::Sender<Output>::Builder *output,
                                   aos::Sender<Status>::Builder *status) {
-  const monotonic_clock::time_point timestamp =
-      event_loop()->context().monotonic_event_time;
+  (void)unsafe_goal;
+  (void)position;
 
   if (WasReset()) {
     AOS_LOG(ERROR, "WPILib reset, restarting\n");
-    end_effector_.Reset();
   }
 
   OutputT output_struct;
 
-  end_effector_.RunIteration(
-      timestamp,
-      unsafe_goal != nullptr ? unsafe_goal->roller_goal() : RollerGoal::IDLE,
-      position->end_effector_cube_beam_break(), &output_struct.roller_voltage,
-      unsafe_goal != nullptr ? unsafe_goal->preloaded_with_cube() : false);
-
-  flatbuffers::Offset<
-      frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus>
-      pivot_joint_offset = pivot_joint_.RunIteration(
-          unsafe_goal != nullptr ? unsafe_goal->pivot_goal()
-                                 : PivotGoal::NEUTRAL,
-          output != nullptr ? &(output_struct.pivot_joint_voltage) : nullptr,
-          position->pivot_joint_position(), status->fbb());
-
   Status::Builder status_builder = status->MakeBuilder<Status>();
 
-  status_builder.add_zeroed(pivot_joint_.zeroed());
-  status_builder.add_estopped(pivot_joint_.estopped());
-  status_builder.add_pivot_joint(pivot_joint_offset);
-  status_builder.add_end_effector_state(end_effector_.state());
-
   if (output) {
     output->CheckOk(output->Send(Output::Pack(*output->fbb(), &output_struct)));
   }
 
+  status_builder.add_zeroed(true);
+
   (void)status->Send(status_builder.Finish());
 }