commit 8f0e07f8f36721484cf83badd46ca6cb65f3a354
author Maxwell Henderson <mxwhenderson@gmail.com> Wed Feb 08 21:10:58 2023 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Feb 18 14:16:05 2023 -0800
tree 7c91f24d8b6fed3d7cc078c681404f3083aca04d
parent bc78ea9b807d9aeb3d061349c4165dfdc948bcff

Move 2018 arm code to frc971 and make dynamics adjustable

Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: I16e7bbb0d293aca461abc931f560fb9066b19aaf

y2018/control_loops/superstructure/arm/arm.h

diff --git a/y2018/control_loops/superstructure/arm/arm.h b/y2018/control_loops/superstructure/arm/arm.h
index 7ceb001..51d6c4d 100644
--- a/y2018/control_loops/superstructure/arm/arm.h
+++ b/y2018/control_loops/superstructure/arm/arm.h
@@ -4,14 +4,17 @@
 #include "aos/time/time.h"
 #include "frc971/zeroing/zeroing.h"
 #include "y2018/constants.h"
-#include "y2018/control_loops/superstructure/arm/dynamics.h"
-#include "y2018/control_loops/superstructure/arm/ekf.h"
+#include "frc971/control_loops/double_jointed_arm/dynamics.h"
+#include "frc971/control_loops/double_jointed_arm/ekf.h"
 #include "y2018/control_loops/superstructure/arm/generated_graph.h"
-#include "y2018/control_loops/superstructure/arm/graph.h"
-#include "y2018/control_loops/superstructure/arm/trajectory.h"
+#include "frc971/control_loops/double_jointed_arm/graph.h"
+#include "frc971/control_loops/double_jointed_arm/trajectory.h"
 #include "y2018/control_loops/superstructure/superstructure_position_generated.h"
 #include "y2018/control_loops/superstructure/superstructure_status_generated.h"
 
+using frc971::control_loops::arm::TrajectoryFollower;
+using frc971::control_loops::arm::EKF;
+
 namespace y2018 {
 namespace control_loops {
 namespace superstructure {
@@ -114,6 +117,8 @@
 
   double vmax_ = kVMax();
 
+  frc971::control_loops::arm::Dynamics dynamics_;
+
   ::std::vector<TrajectoryAndParams> trajectories_;
   SearchGraph search_graph_;