Rename PotAndAbsEncoder to be more consistent
$ git sed 's/AbsoluteEstimatorState/PotAndAbsoluteEncoderEstimatorState/'
$ git sed 's/PotAndAbsEncoderZeroingEstimator/PotAndAbsoluteEncoderZeroingEstimator/'
It's a bit all over the place in terms of naming and doesn't leave much
space to name something which is just an absolute encoder.
Change-Id: Iecbee91191bd9cc16eb08fd24b91335ef772beec
diff --git a/y2018/control_loops/superstructure/arm/arm.h b/y2018/control_loops/superstructure/arm/arm.h
index a9b3590..0a4666a 100644
--- a/y2018/control_loops/superstructure/arm/arm.h
+++ b/y2018/control_loops/superstructure/arm/arm.h
@@ -91,8 +91,10 @@
::aos::monotonic_clock::time_point claw_close_start_time_ =
::aos::monotonic_clock::min_time;
- ::frc971::zeroing::PotAndAbsEncoderZeroingEstimator proximal_zeroing_estimator_;
- ::frc971::zeroing::PotAndAbsEncoderZeroingEstimator distal_zeroing_estimator_;
+ ::frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator
+ proximal_zeroing_estimator_;
+ ::frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator
+ distal_zeroing_estimator_;
double proximal_offset_ = 0.0;
double distal_offset_ = 0.0;
diff --git a/y2018/control_loops/superstructure/intake/intake.h b/y2018/control_loops/superstructure/intake/intake.h
index dff0adc..552086a 100644
--- a/y2018/control_loops/superstructure/intake/intake.h
+++ b/y2018/control_loops/superstructure/intake/intake.h
@@ -104,7 +104,7 @@
State state_ = State::UNINITIALIZED;
- ::frc971::zeroing::PotAndAbsEncoderZeroingEstimator zeroing_estimator_;
+ ::frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator zeroing_estimator_;
double intake_last_position_ = 0.0;
};
diff --git a/y2018/control_loops/superstructure/superstructure.q b/y2018/control_loops/superstructure/superstructure.q
index ee38539..19fbc05 100644
--- a/y2018/control_loops/superstructure/superstructure.q
+++ b/y2018/control_loops/superstructure/superstructure.q
@@ -35,7 +35,7 @@
float delayed_voltage;
// State of the estimator.
- .frc971.AbsoluteEstimatorState estimator_state;
+ .frc971.PotAndAbsoluteEncoderEstimatorState estimator_state;
};
struct IntakeGoal {
@@ -62,8 +62,8 @@
struct ArmStatus {
// State of the estimators.
- .frc971.AbsoluteEstimatorState proximal_estimator_state;
- .frc971.AbsoluteEstimatorState distal_estimator_state;
+ .frc971.PotAndAbsoluteEncoderEstimatorState proximal_estimator_state;
+ .frc971.PotAndAbsoluteEncoderEstimatorState distal_estimator_state;
// The node we are currently going to.
uint32_t current_node;