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.h

diff --git a/y2020/control_loops/superstructure/superstructure.h b/y2020/control_loops/superstructure/superstructure.h
index 7b87bca..c0f3798 100644
--- a/y2020/control_loops/superstructure/superstructure.h
+++ b/y2020/control_loops/superstructure/superstructure.h
@@ -6,12 +6,12 @@
 #include "aos/robot_state/joystick_state_generated.h"
 #include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
 #include "y2020/constants.h"
+#include "y2020/control_loops/superstructure/climber.h"
 #include "y2020/control_loops/superstructure/shooter/shooter.h"
 #include "y2020/control_loops/superstructure/superstructure_goal_generated.h"
 #include "y2020/control_loops/superstructure/superstructure_output_generated.h"
 #include "y2020/control_loops/superstructure/superstructure_position_generated.h"
 #include "y2020/control_loops/superstructure/superstructure_status_generated.h"
-#include "y2020/control_loops/superstructure/climber.h"
 #include "y2020/control_loops/superstructure/turret/aiming.h"
 
 namespace y2020 {
@@ -40,8 +40,13 @@
       ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystem<
           ::frc971::zeroing::AbsoluteEncoderZeroingEstimator,
           ::frc971::control_loops::AbsoluteEncoderProfiledJointStatus>;
+  using AbsoluteAndAbsoluteEncoderSubsystem =
+      ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystem<
+          ::frc971::zeroing::AbsoluteAndAbsoluteEncoderZeroingEstimator,
+          ::frc971::control_loops::
+              AbsoluteAndAbsoluteEncoderProfiledJointStatus>;
 
-  const AbsoluteEncoderSubsystem &hood() const { return hood_; }
+  const AbsoluteAndAbsoluteEncoderSubsystem &hood() const { return hood_; }
   const AbsoluteEncoderSubsystem &intake_joint() const { return intake_joint_; }
   const PotAndAbsoluteEncoderSubsystem &turret() const { return turret_; }
   const shooter::Shooter &shooter() const { return shooter_; }
@@ -53,7 +58,7 @@
                             aos::Sender<Status>::Builder *status) override;
 
  private:
-  AbsoluteEncoderSubsystem hood_;
+  AbsoluteAndAbsoluteEncoderSubsystem hood_;
   AbsoluteEncoderSubsystem intake_joint_;
   PotAndAbsoluteEncoderSubsystem turret_;
   shooter::Shooter shooter_;