commit 937587c2d6261354b3d585d772f9726874038379
author Ravago Jones <ravagojones@gmail.com> Sat Dec 26 17:21:09 2020 -0800
committer Ravago Jones <ravagojones@gmail.com> Sat Mar 06 14:25:54 2021 -0800
tree f21dca778c5d6ea0594dc54ff933fd21c9d36dcc
parent 60dc5046673cf8c1767371864f41cbc775875f92

Update Hood to use AbsoluteAndAbsolute position

Change-Id: I3e88718560a6e3983681a3430dc31b5431c1a743

y2020/control_loops/superstructure/superstructure.cc

diff --git a/y2020/control_loops/superstructure/superstructure.cc b/y2020/control_loops/superstructure/superstructure.cc
index 4c02a18..e6c1375 100644
--- a/y2020/control_loops/superstructure/superstructure.cc
+++ b/y2020/control_loops/superstructure/superstructure.cc
@@ -6,6 +6,7 @@
 namespace control_loops {
 namespace superstructure {
 
+using frc971::control_loops::AbsoluteAndAbsoluteEncoderProfiledJointStatus;
 using frc971::control_loops::AbsoluteEncoderProfiledJointStatus;
 using frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus;
 
@@ -65,11 +66,12 @@
 
   OutputT output_struct;
 
-  flatbuffers::Offset<AbsoluteEncoderProfiledJointStatus> hood_status_offset =
-      hood_.Iterate(unsafe_goal != nullptr ? unsafe_goal->hood() : nullptr,
-                    position->hood(),
-                    output != nullptr ? &(output_struct.hood_voltage) : nullptr,
-                    status->fbb());
+  flatbuffers::Offset<AbsoluteAndAbsoluteEncoderProfiledJointStatus>
+      hood_status_offset = hood_.Iterate(
+          unsafe_goal != nullptr ? unsafe_goal->hood() : nullptr,
+          position->hood(),
+          output != nullptr ? &(output_struct.hood_voltage) : nullptr,
+          status->fbb());
 
   if (unsafe_goal != nullptr) {
     if (unsafe_goal->shooting() &&
@@ -121,7 +123,7 @@
 
   climber_.Iterate(unsafe_goal, output != nullptr ? &(output_struct) : nullptr);
 
-  const AbsoluteEncoderProfiledJointStatus *const hood_status =
+  const AbsoluteAndAbsoluteEncoderProfiledJointStatus *const hood_status =
       GetMutableTemporaryPointer(*status->fbb(), hood_status_offset);
 
   const PotAndAbsoluteEncoderProfiledJointStatus *const turret_status =