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/y2015/control_loops/claw/claw.cc b/y2015/control_loops/claw/claw.cc
index 987bb5e..25b5b9d 100644
--- a/y2015/control_loops/claw/claw.cc
+++ b/y2015/control_loops/claw/claw.cc
@@ -281,8 +281,7 @@
status->zeroed = state_ == RUNNING;
status->estopped = state_ == ESTOP;
status->state = state_;
- ::frc971::zeroing::PopulateEstimatorState(claw_estimator_,
- &status->zeroing_state);
+ status->zeroing_state = claw_estimator_.GetEstimatorState();
status->angle = claw_loop_->X_hat(0, 0);
status->angular_velocity = claw_loop_->X_hat(1, 0);
diff --git a/y2015/control_loops/fridge/fridge.cc b/y2015/control_loops/fridge/fridge.cc
index 518d41f..a6acae7 100644
--- a/y2015/control_loops/fridge/fridge.cc
+++ b/y2015/control_loops/fridge/fridge.cc
@@ -711,14 +711,10 @@
status->grabbers.bottom_front = false;
status->grabbers.bottom_back = false;
}
- ::frc971::zeroing::PopulateEstimatorState(left_arm_estimator_,
- &status->left_arm_state);
- ::frc971::zeroing::PopulateEstimatorState(right_arm_estimator_,
- &status->right_arm_state);
- ::frc971::zeroing::PopulateEstimatorState(left_elevator_estimator_,
- &status->left_elevator_state);
- ::frc971::zeroing::PopulateEstimatorState(right_elevator_estimator_,
- &status->right_elevator_state);
+ status->left_arm_state = left_arm_estimator_.GetEstimatorState();
+ status->right_arm_state = right_arm_estimator_.GetEstimatorState();
+ status->left_elevator_state = left_elevator_estimator_.GetEstimatorState();
+ status->right_elevator_state = right_elevator_estimator_.GetEstimatorState();
status->estopped = (state_ == ESTOP);
status->state = state_;
last_state_ = state_;