Modify shooter control loop to take velocity.
- NOTE: Things compile and run, but the output never actually stabilizes.
Before this can be used, new motor_plant constants for the shooter MUST
be determined.
diff --git a/bot3/control_loops/shooter/shooter.h b/bot3/control_loops/shooter/shooter.h
index 63c194f..efc1f1b 100644
--- a/bot3/control_loops/shooter/shooter.h
+++ b/bot3/control_loops/shooter/shooter.h
@@ -33,18 +33,10 @@
private:
// The state feedback control loop to talk to.
- ::std::unique_ptr<StateFeedbackLoop<2, 1, 1>> loop_;
+ ::std::unique_ptr<StateFeedbackLoop<1, 1, 1>> loop_;
- // History array and stuff for determining average velocity and whether
- // we are ready to shoot.
- static const int kHistoryLength = 5;
- double history_[kHistoryLength];
- ptrdiff_t history_position_;
double average_velocity_;
- double position_goal_;
- double last_position_;
-
// For making sure it keeps spinning if we're shooting.
double last_velocity_goal_;