Converted hood to only need an index pulse.
We now have a more complicated seek mechanism which runs the hood to
each hard stop, or until we find both index pulses.
Change-Id: I9932cc158beec0bc55dc0e908accb0aea6a73506
diff --git a/y2017/control_loops/superstructure/superstructure.q b/y2017/control_loops/superstructure/superstructure.q
index 397a888..b4e6c9b 100644
--- a/y2017/control_loops/superstructure/superstructure.q
+++ b/y2017/control_loops/superstructure/superstructure.q
@@ -128,7 +128,7 @@
// Each subsystems status.
.frc971.control_loops.AbsoluteProfiledJointStatus intake;
.frc971.control_loops.AbsoluteProfiledJointStatus turret;
- .frc971.control_loops.ProfiledJointStatus hood;
+ .frc971.control_loops.IndexProfiledJointStatus hood;
IndexerStatus indexer;
ShooterStatus shooter;
};
@@ -147,7 +147,7 @@
// The sensor readings for the hood. The units and sign are defined the
// same as what's in the Goal message.
- .frc971.PotAndIndexPosition hood;
+ .frc971.IndexPosition hood;
// Shooter wheel angle in radians.
double theta_shooter;