Pull state out of the zeroing estimators more nicely
I'm eventually going to remove the position() member, but for now Austin
wants this too.
Change-Id: I12b0c01eb5174751bd04fee8fdb770378a87f541
diff --git a/frc971/zeroing/zeroing.cc b/frc971/zeroing/zeroing.cc
index 6dd6f42..70fbb56 100644
--- a/frc971/zeroing/zeroing.cc
+++ b/frc971/zeroing/zeroing.cc
@@ -19,25 +19,6 @@
} // namespace
-void PopulateEstimatorState(
- const zeroing::PotAndIndexPulseZeroingEstimator &estimator,
- EstimatorState *state) {
- state->error = estimator.error();
- state->zeroed = estimator.zeroed();
- state->position = estimator.position();
- state->pot_position = estimator.filtered_position();
-}
-
-void PopulateEstimatorState(
- const zeroing::PotAndAbsEncoderZeroingEstimator &estimator,
- AbsoluteEstimatorState *state) {
- state->error = estimator.error();
- state->zeroed = estimator.zeroed();
-
- state->position = estimator.position();
- state->pot_position = estimator.filtered_position();
-}
-
PotAndIndexPulseZeroingEstimator::PotAndIndexPulseZeroingEstimator(
const constants::PotAndIndexPulseZeroingConstants &constants)
: constants_(constants) {
@@ -152,6 +133,17 @@
filtered_position_ = start_average + info.encoder;
}
+PotAndIndexPulseZeroingEstimator::State
+PotAndIndexPulseZeroingEstimator::GetEstimatorState() const {
+ State r;
+ r.error = error_;
+ r.zeroed = zeroed_;
+ r.position = position_;
+ r.pot_position = filtered_position_;
+ return r;
+}
+
+
PotAndAbsEncoderZeroingEstimator::PotAndAbsEncoderZeroingEstimator(
const constants::PotAndAbsoluteEncoderZeroingConstants &constants)
: constants_(constants) {
@@ -309,6 +301,16 @@
position_ = offset_ + info.encoder;
}
+PotAndAbsEncoderZeroingEstimator::State
+PotAndAbsEncoderZeroingEstimator::GetEstimatorState() const {
+ State r;
+ r.error = error_;
+ r.zeroed = zeroed_;
+ r.position = position_;
+ r.pot_position = filtered_position_;
+ return r;
+}
+
void PulseIndexZeroingEstimator::Reset() {
max_index_position_ = ::std::numeric_limits<double>::lowest();
min_index_position_ = ::std::numeric_limits<double>::max();