Added turret and intake code and tests.
Tests are from Adam.
Change-Id: I5a89700cfe2e9983771b4523facc302243b5dc50
diff --git a/y2017/control_loops/superstructure/superstructure.q b/y2017/control_loops/superstructure/superstructure.q
index be5b824..43e6004 100644
--- a/y2017/control_loops/superstructure/superstructure.q
+++ b/y2017/control_loops/superstructure/superstructure.q
@@ -102,8 +102,8 @@
bool estopped;
// Each subsystems status.
- .frc971.control_loops.ProfiledJointStatus intake;
- .frc971.control_loops.ProfiledJointStatus turret;
+ .frc971.control_loops.AbsoluteProfiledJointStatus intake;
+ .frc971.control_loops.AbsoluteProfiledJointStatus turret;
.frc971.control_loops.ProfiledJointStatus hood;
IndexerStatus indexer;
ShooterStatus shooter;
@@ -115,14 +115,14 @@
// Position of the intake, zero when the intake is in, positive when it is
// out.
- .frc971.PotAndIndexPosition intake;
+ .frc971.PotAndAbsolutePosition intake;
// Indexer angle in radians.
double theta_indexer;
// The sensor readings for the turret. The units and sign are defined the
// same as what's in the Goal message.
- .frc971.PotAndIndexPosition turret;
+ .frc971.PotAndAbsolutePosition turret;
// The sensor readings for the hood. The units and sign are defined the
// same as what's in the Goal message.