Added superstructure and intake classes.
Created the superstucture, intake, and intake controller class,
had to alter some of the intake python and superstructure queue to fit.
Change-Id: Ieabcf288f6dd50c282a3bcb61ec13062f735872b
diff --git a/frc971/control_loops/state_feedback_loop.h b/frc971/control_loops/state_feedback_loop.h
index 6ffc1b8..fe224cc 100644
--- a/frc971/control_loops/state_feedback_loop.h
+++ b/frc971/control_loops/state_feedback_loop.h
@@ -105,17 +105,17 @@
const Eigen::Matrix<Scalar, number_of_inputs, 1> &U_max() const {
return coefficients().U_max;
}
- Scalar U_max(int i, int j) const { return U_max()(i, j); }
+ Scalar U_max(int i, int j = 0) const { return U_max()(i, j); }
const Eigen::Matrix<Scalar, number_of_states, 1> &X() const { return X_; }
- Scalar X(int i, int j) const { return X()(i, j); }
+ Scalar X(int i, int j = 0) const { return X()(i, j); }
const Eigen::Matrix<Scalar, number_of_outputs, 1> &Y() const { return Y_; }
- Scalar Y(int i, int j) const { return Y()(i, j); }
+ Scalar Y(int i, int j = 0) const { return Y()(i, j); }
Eigen::Matrix<Scalar, number_of_states, 1> &mutable_X() { return X_; }
- Scalar &mutable_X(int i, int j) { return mutable_X()(i, j); }
+ Scalar &mutable_X(int i, int j = 0) { return mutable_X()(i, j); }
Eigen::Matrix<Scalar, number_of_outputs, 1> &mutable_Y() { return Y_; }
- Scalar &mutable_Y(int i, int j) { return mutable_Y()(i, j); }
+ Scalar &mutable_Y(int i, int j = 0) { return mutable_Y()(i, j); }
const StateFeedbackPlantCoefficients<number_of_states, number_of_inputs,
number_of_outputs, Scalar>
@@ -400,7 +400,7 @@
const Eigen::Matrix<Scalar, number_of_states, 1> &X_hat() const {
return observer().X_hat();
}
- Scalar X_hat(int i, int j) const { return X_hat()(i, j); }
+ Scalar X_hat(int i, int j = 0) const { return X_hat()(i, j); }
const Eigen::Matrix<Scalar, number_of_states, 1> &R() const { return R_; }
Scalar R(int i, int j) const { return R()(i, j); }
const Eigen::Matrix<Scalar, number_of_states, 1> &next_R() const {
@@ -421,7 +421,7 @@
Eigen::Matrix<Scalar, number_of_states, 1> &mutable_X_hat() {
return observer_.mutable_X_hat();
}
- Scalar &mutable_X_hat(int i, int j) { return mutable_X_hat()(i, j); }
+ Scalar &mutable_X_hat(int i, int j = 0) { return mutable_X_hat()(i, j); }
Eigen::Matrix<Scalar, number_of_states, 1> &mutable_R() { return R_; }
Scalar &mutable_R(int i, int j) { return mutable_R()(i, j); }
Eigen::Matrix<Scalar, number_of_states, 1> &mutable_next_R() {