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
diff --git a/y2024/control_loops/superstructure/superstructure.h b/y2024/control_loops/superstructure/superstructure.h
index 88db2e2..f85e0fc 100644
--- a/y2024/control_loops/superstructure/superstructure.h
+++ b/y2024/control_loops/superstructure/superstructure.h
@@ -21,6 +21,11 @@
class Superstructure
: public ::frc971::controls::ControlLoop<Goal, Position, Status, Output> {
public:
+ using AbsoluteEncoderSubsystem =
+ ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystem<
+ ::frc971::zeroing::AbsoluteEncoderZeroingEstimator,
+ ::frc971::control_loops::AbsoluteEncoderProfiledJointStatus>;
+
using PotAndAbsoluteEncoderSubsystem =
::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystem<
::frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator,
@@ -30,7 +35,7 @@
std::shared_ptr<const constants::Values> values,
const ::std::string &name = "/superstructure");
- inline const PotAndAbsoluteEncoderSubsystem &intake_pivot() const {
+ inline const AbsoluteEncoderSubsystem &intake_pivot() const {
return intake_pivot_;
}
@@ -56,8 +61,9 @@
aos::Alliance alliance_ = aos::Alliance::kInvalid;
TransferRollerGoal transfer_goal_;
- PotAndAbsoluteEncoderSubsystem intake_pivot_;
+ AbsoluteEncoderSubsystem intake_pivot_;
PotAndAbsoluteEncoderSubsystem climber_;
+
DISALLOW_COPY_AND_ASSIGN(Superstructure);
};