Factor out generic aiming code from 2020 aimer
Should have no behavioral impacts.
Change-Id: Ic7994646b7290ed6e9bbd4ae1ea58b6c0833501c
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2020/control_loops/superstructure/turret/aiming.h b/y2020/control_loops/superstructure/turret/aiming.h
index ed00972..217085c 100644
--- a/y2020/control_loops/superstructure/turret/aiming.h
+++ b/y2020/control_loops/superstructure/turret/aiming.h
@@ -6,6 +6,7 @@
#include "frc971/control_loops/pose.h"
#include "frc971/control_loops/profiled_subsystem_generated.h"
#include "frc971/input/joystick_state_generated.h"
+#include "frc971/control_loops/aiming/aiming.h"
#include "y2020/control_loops/superstructure/superstructure_status_generated.h"
namespace y2020 {
@@ -39,14 +40,7 @@
kAvoidWrapping,
};
- // Control modes for managing how we manage shooting on the fly.
- enum class ShotMode {
- // Don't do any shooting-on-the-fly compensation--just point straight at the
- // target. Primarily used in tests.
- kStatic,
- // Do do shooting-on-the-fly compensation.
- kShootOnTheFly,
- };
+ typedef frc971::control_loops::aiming::ShotMode ShotMode;
Aimer();