Autogen rules written for elevator module.
Put most things in the y2015 namespace since codegen wants to place
the controller gains in that namespace.
Change-Id: Ib3ef6eb38200bf0d80cba972cbe06ea366522ec6
diff --git a/y2015/control_loops/fridge/fridge.h b/y2015/control_loops/fridge/fridge.h
index 0448e09..ee64554 100644
--- a/y2015/control_loops/fridge/fridge.h
+++ b/y2015/control_loops/fridge/fridge.h
@@ -10,8 +10,9 @@
#include "frc971/zeroing/zeroing.h"
#include "y2015/util/kinematics.h"
-namespace frc971 {
+namespace y2015 {
namespace control_loops {
+namespace fridge {
namespace testing {
class FridgeTest_DisabledGoalTest_Test;
class FridgeTest_ArmGoalPositiveWindupTest_Test;
@@ -42,10 +43,10 @@
};
class Fridge
- : public aos::controls::ControlLoop<control_loops::FridgeQueue> {
+ : public aos::controls::ControlLoop<FridgeQueue> {
public:
- explicit Fridge(
- control_loops::FridgeQueue *fridge_queue = &control_loops::fridge_queue);
+ explicit Fridge(FridgeQueue *fridge_queue =
+ &::y2015::control_loops::fridge::fridge_queue);
enum State {
// Waiting to receive data before doing anything.
@@ -72,10 +73,10 @@
State state() const { return state_; }
protected:
- void RunIteration(const control_loops::FridgeQueue::Goal *goal,
- const control_loops::FridgeQueue::Position *position,
- control_loops::FridgeQueue::Output *output,
- control_loops::FridgeQueue::Status *status) override;
+ void RunIteration(const FridgeQueue::Goal *goal,
+ const FridgeQueue::Position *position,
+ FridgeQueue::Output *output,
+ FridgeQueue::Status *status) override;
private:
friend class testing::FridgeTest_DisabledGoalTest_Test;
@@ -127,10 +128,10 @@
::std::unique_ptr<CappedStateFeedbackLoop<5>> arm_loop_;
::std::unique_ptr<CappedStateFeedbackLoop<4>> elevator_loop_;
- zeroing::ZeroingEstimator left_arm_estimator_;
- zeroing::ZeroingEstimator right_arm_estimator_;
- zeroing::ZeroingEstimator left_elevator_estimator_;
- zeroing::ZeroingEstimator right_elevator_estimator_;
+ ::frc971::zeroing::ZeroingEstimator left_arm_estimator_;
+ ::frc971::zeroing::ZeroingEstimator right_arm_estimator_;
+ ::frc971::zeroing::ZeroingEstimator left_elevator_estimator_;
+ ::frc971::zeroing::ZeroingEstimator right_elevator_estimator_;
// Offsets from the encoder position to the absolute position. Add these to
// the encoder position to get the absolute position.
@@ -153,7 +154,7 @@
State state_ = UNINITIALIZED;
State last_state_ = UNINITIALIZED;
- control_loops::FridgeQueue::Position current_position_;
+ FridgeQueue::Position current_position_;
ProfilingType last_profiling_type_;
aos::util::ElevatorArmKinematics kinematics_;
@@ -165,8 +166,9 @@
aos::util::TrapezoidProfile y_profile_;
};
+} // namespace fridge
} // namespace control_loops
-} // namespace frc971
+} // namespace y2015
#endif // Y2015_CONTROL_LOOPS_FRIDGE_H_