commit 94d5679030435a3fb055f2110a25b94f7c05393f
author Parker Schuh <parker.schuh+gerrit_code_review@gmail.com> Thu Apr 13 20:32:50 2017 -0700
committer Austin Schuh <austin.linux@gmail.com> Fri Apr 14 19:11:58 2017 -0700
tree b1233b35eff42b6cc3927c70f79a5842116ffdc4
parent eee8c96cf18d4773772d58141470a7cc15ba47e2

Templatize interpolation table to make it more geneirc.

Change-Id: I7da0698486775b3e2482fa99fa172d6e1b6028ac

y2017/constants.cc

diff --git a/y2017/constants.cc b/y2017/constants.cc
index 2e97b9e..802c57d 100644
--- a/y2017/constants.cc
+++ b/y2017/constants.cc
@@ -88,12 +88,12 @@
 
   // TODO(phil): Should these be different per robot?
   *shot_interpolation_table =
-      ::frc971::shooter_interpolation::InterpolationTable(
+      ::frc971::shooter_interpolation::InterpolationTable<Values::ShotParams>(
           {// { distance_to_target, { shot_angle, shot_power }},
-           {1.67, {0.31, 320.0}},
-           {1.90, {0.33, 330.0}},
-           {2.15, {0.33, 347.0}},
-           {2.45, {0.33, 361.0}},
+           {1.67, {0.31, 320.0, -2.25 * M_PI}},
+           {1.90, {0.33, 330.0, -2.25 * M_PI}},
+           {2.15, {0.33, 347.0, -2.25 * M_PI}},
+           {2.45, {0.33, 361.0, -2.25 * M_PI}},
           });
 
   switch (team) {
@@ -190,5 +190,12 @@
   return *values[team_number];
 }
 
+Values::ShotParams Values::ShotParams::BlendY(double coefficient, Values::ShotParams a1, Values::ShotParams a2) {
+  using ::frc971::shooter_interpolation::Blend;
+  return Values::ShotParams{Blend(coefficient, a1.angle, a2.angle),
+                    Blend(coefficient, a1.power, a2.power),
+                    Blend(coefficient, a1.indexer_velocity, a2.indexer_velocity)};
+}
+
 }  // namespace constants
 }  // namespace y2017