Swap y2023 wrist over to the constants.json
There are a couple of awkward constants that show up in json_codegen.cc
as still being managed from the C++ end; there are also a couple of
codegen'd constants from the wrist python code that we use in
constants.h. However, this does move *all* of the per-robot
configuration into the constants JSON file and should allow us to remove
the superstructure's dependency on the constants.h (if the arm were also
converted over).
Change-Id: Id9fc1e80830af823d96e5f3c1e469495eba454a4
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2023/control_loops/python/wrist.py b/y2023/control_loops/python/wrist.py
index fe2fcf6..3ad404c 100644
--- a/y2023/control_loops/python/wrist.py
+++ b/y2023/control_loops/python/wrist.py
@@ -41,13 +41,13 @@
return
# Write the generated constants out to a file.
- if len(argv) != 5:
+ if len(argv) != 7:
glog.fatal(
'Expected .h file name and .cc file name for the wrist and integral wrist.'
)
else:
namespaces = ['y2023', 'control_loops', 'superstructure', 'wrist']
- angular_system.WriteAngularSystem(kWrist, argv[1:3], argv[3:5],
+ angular_system.WriteAngularSystem(kWrist, argv[1:4], argv[4:7],
namespaces)