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/superstructure/superstructure.cc b/y2023/control_loops/superstructure/superstructure.cc
index e11092a..0ee1061 100644
--- a/y2023/control_loops/superstructure/superstructure.cc
+++ b/y2023/control_loops/superstructure/superstructure.cc
@@ -34,7 +34,8 @@
event_loop->MakeFetcher<aos::JoystickState>("/aos")),
arm_(values_, arm_trajectories.message()),
end_effector_(),
- wrist_(values->wrist.subsystem_params) {
+ wrist_(constants_fetcher_.constants().wrist(),
+ constants_fetcher_.constants().robot()->wrist_zero()) {
event_loop->SetRuntimeRealtimePriority(30);
}