commit 74b0ad57bcf8c232a083585920e9e5a3568dfbb5
author Niko Sohmers <nikolai@sohmers.com> Sat Feb 03 18:00:31 2024 -0800
committer Niko Sohmers <nikolai@sohmers.com> Fri Feb 16 19:56:38 2024 -0800
tree 9893fee657e19d2cd4a338e5d084ad28b6c5d894
parent 7d4b98d17a5aa625319559ce84b06c472a392b87

Remove Potentiometer from Intake Pivot

Changed the intake pivot from a pot and absolute
encoder subsystem to just an absolute encoder subsystem

Signed-off-by: Niko Sohmers <nikolai@sohmers.com>
Change-Id: I9440cc1716420ca22c776db22e7694f2c1448aeb

y2024/control_loops/superstructure/superstructure.cc

diff --git a/y2024/control_loops/superstructure/superstructure.cc b/y2024/control_loops/superstructure/superstructure.cc
index 18db6d6..1d7c5b5 100644
--- a/y2024/control_loops/superstructure/superstructure.cc
+++ b/y2024/control_loops/superstructure/superstructure.cc
@@ -31,9 +31,8 @@
       joystick_state_fetcher_(
           event_loop->MakeFetcher<aos::JoystickState>("/aos")),
       transfer_goal_(TransferRollerGoal::NONE),
-      intake_pivot_(
-          robot_constants_->common()->intake_pivot(),
-          robot_constants_->robot()->intake_constants()->zeroing_constants()),
+      intake_pivot_(robot_constants_->common()->intake_pivot(),
+                    robot_constants_->robot()->intake_constants()),
       climber_(
           robot_constants_->common()->climber(),
           robot_constants_->robot()->climber_constants()->zeroing_constants()) {
@@ -153,7 +152,7 @@
   const frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal
       *intake_pivot_goal = &intake_pivot_goal_buffer.message();
 
-  const flatbuffers::Offset<PotAndAbsoluteEncoderProfiledJointStatus>
+  const flatbuffers::Offset<AbsoluteEncoderProfiledJointStatus>
       intake_pivot_status_offset = intake_pivot_.Iterate(
           intake_pivot_goal, position->intake_pivot(),
           output != nullptr ? &output_struct.intake_pivot_voltage : nullptr,