commit 6175066e4d1294c9b2e4e49ea22b3bb7bd7ee41c
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Mon Jun 21 21:32:33 2021 -0700
committer James Kuszmaul <jabukuszmaul@gmail.com> Sun Jun 27 13:50:16 2021 -0700
tree 734cf51117459826d67457d6d35637887f4a8f38
parent eeaaed70bebee707f88cfd9159138e5041948569

Move aos/controls to frc971/control_loops

Also put what was aos/controls/control_loops.fbs in y2012/control_loops
because that's the only user.

Change-Id: I8f402b0708103077e135a41e55ef5e4f23681d87
Signed-off-by: James Kuszmaul <jabukuszmaul@gmail.com>

y2017/control_loops/superstructure/column/BUILD

diff --git a/y2017/control_loops/superstructure/column/BUILD b/y2017/control_loops/superstructure/column/BUILD
index 498579e..2d83482 100644
--- a/y2017/control_loops/superstructure/column/BUILD
+++ b/y2017/control_loops/superstructure/column/BUILD
@@ -48,7 +48,7 @@
         ":column_plants",
         ":column_zeroing",
         "//aos:math",
-        "//aos/controls:control_loop",
+        "//frc971/control_loops:control_loop",
         "//frc971/control_loops:profiled_subsystem",
         "//y2017:constants",
         "//y2017/control_loops/superstructure:superstructure_position_fbs",

y2017/control_loops/superstructure/column/column.cc

diff --git a/y2017/control_loops/superstructure/column/column.cc b/y2017/control_loops/superstructure/column/column.cc
index f1aea39..d5e2611 100644
--- a/y2017/control_loops/superstructure/column/column.cc
+++ b/y2017/control_loops/superstructure/column/column.cc
@@ -6,7 +6,6 @@
 #include <utility>
 
 #include "Eigen/Dense"
-
 #include "aos/commonmath.h"
 #include "frc971/constants.h"
 #include "frc971/control_loops/profiled_subsystem.h"
@@ -48,7 +47,7 @@
           ::std::move(loop), {{zeroing_constants}}),
       stuck_indexer_detector_(new StateFeedbackLoop<6, 2, 2>(
           column::MakeStuckIntegralColumnLoop())),
-      profile_(::aos::controls::kLoopFrequency),
+      profile_(::frc971::controls::kLoopFrequency),
       range_(range),
       default_velocity_(default_velocity),
       default_acceleration_(default_acceleration) {
@@ -128,7 +127,7 @@
 
   indexer_dt_velocity_ =
       (new_position.indexer()->encoder() - indexer_last_position_) /
-      ::aos::time::DurationInSeconds(::aos::controls::kLoopFrequency);
+      ::aos::time::DurationInSeconds(::frc971::controls::kLoopFrequency);
   indexer_last_position_ = new_position.indexer()->encoder();
 
   stuck_indexer_detector_->Correct(Y_);
@@ -143,7 +142,7 @@
   indexer_average_angular_velocity_ =
       (indexer_history_[indexer_oldest_history_position] -
        indexer_history_[indexer_history_position_]) /
-      (::aos::time::DurationInSeconds(::aos::controls::kLoopFrequency) *
+      (::aos::time::DurationInSeconds(::frc971::controls::kLoopFrequency) *
        static_cast<double>(kHistoryLength - 1));
 
   // Ready if average angular velocity is close to the goal.
@@ -253,7 +252,7 @@
         profile_.Update(unprofiled_goal_(2, 0), unprofiled_goal_(3, 0));
 
     constexpr double kDt =
-        ::aos::time::DurationInSeconds(::aos::controls::kLoopFrequency);
+        ::aos::time::DurationInSeconds(::frc971::controls::kLoopFrequency);
 
     loop_->mutable_next_R(0, 0) = 0.0;
     // TODO(austin): This might not handle saturation right, but I'm not sure I
@@ -287,7 +286,7 @@
 
   // Run the KF predict step.
   stuck_indexer_detector_->UpdateObserver(loop_->U(),
-                                          ::aos::controls::kLoopFrequency);
+                                          ::frc971::controls::kLoopFrequency);
 }
 
 bool ColumnProfiledSubsystem::CheckHardLimits() {
@@ -382,7 +381,7 @@
   status_builder->add_voltage_error(X_hat(5, 0));
   status_builder->add_calculated_velocity(
       (turret_position() - turret_last_position_) /
-      ::aos::time::DurationInSeconds(::aos::controls::kLoopFrequency));
+      ::aos::time::DurationInSeconds(::frc971::controls::kLoopFrequency));
 
   status_builder->add_estimator_state(estimator_state_offset);
 
@@ -558,8 +557,7 @@
       if (unsafe_turret_goal && unsafe_indexer_goal) {
         profiled_subsystem_.AdjustProfile(unsafe_turret_goal->profile_params());
         profiled_subsystem_.set_unprofiled_goal(
-            unsafe_indexer_goal->angular_velocity,
-            unsafe_turret_goal->angle());
+            unsafe_indexer_goal->angular_velocity, unsafe_turret_goal->angle());
 
         if (unsafe_turret_goal->track()) {
           if (vision_time_adjuster_.valid()) {