Refactor AbsoluteProfiledJointStatus
Change-Id: I7a5c69dd7647092fc29915189e8ad4d1c40e29b9
diff --git a/frc971/control_loops/profiled_subsystem.q b/frc971/control_loops/profiled_subsystem.q
index 784b92f..f3015c6 100644
--- a/frc971/control_loops/profiled_subsystem.q
+++ b/frc971/control_loops/profiled_subsystem.q
@@ -78,7 +78,7 @@
.frc971.HallEffectAndPositionEstimatorState estimator_state;
};
-struct AbsoluteProfiledJointStatus {
+struct PotAndAbsoluteEncoderProfiledJointStatus {
// Is the subsystem zeroed?
bool zeroed;
diff --git a/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h b/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h
index 9ad7439..2709315 100644
--- a/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h
+++ b/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h
@@ -65,7 +65,8 @@
void Iterate(const StaticZeroingSingleDOFProfiledSubsystemGoal *goal,
const typename ZeroingEstimator::Position *position,
double *output,
- ::frc971::control_loops::AbsoluteProfiledJointStatus *status);
+ ::frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus
+ *status);
// Resets the profiled subsystem and returns to uninitialized
void Reset();
@@ -119,7 +120,7 @@
void StaticZeroingSingleDOFProfiledSubsystem<ZeroingEstimator>::Iterate(
const StaticZeroingSingleDOFProfiledSubsystemGoal *goal,
const typename ZeroingEstimator::Position *position, double *output,
- ::frc971::control_loops::AbsoluteProfiledJointStatus *status) {
+ ::frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus *status) {
bool disabled = output == nullptr;
profiled_subsystem_.Correct(*position);
diff --git a/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.cc b/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.cc
index 8805842..df26c56 100644
--- a/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.cc
+++ b/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.cc
@@ -62,7 +62,7 @@
struct TestIntakeSystemData {
::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal goal;
- ::frc971::control_loops::AbsoluteProfiledJointStatus status;
+ ::frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus status;
::frc971::PotAndAbsolutePosition position;
diff --git a/y2017/control_loops/superstructure/intake/intake.cc b/y2017/control_loops/superstructure/intake/intake.cc
index 89145a4..76c44a4 100644
--- a/y2017/control_loops/superstructure/intake/intake.cc
+++ b/y2017/control_loops/superstructure/intake/intake.cc
@@ -32,7 +32,7 @@
void Intake::Iterate(
const control_loops::IntakeGoal *unsafe_goal,
const ::frc971::PotAndAbsolutePosition *position, double *output,
- ::frc971::control_loops::AbsoluteProfiledJointStatus *status) {
+ ::frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus *status) {
bool disable = output == nullptr;
profiled_subsystem_.Correct(*position);
diff --git a/y2017/control_loops/superstructure/intake/intake.h b/y2017/control_loops/superstructure/intake/intake.h
index 40f49fc..db1442a 100644
--- a/y2017/control_loops/superstructure/intake/intake.h
+++ b/y2017/control_loops/superstructure/intake/intake.h
@@ -34,7 +34,8 @@
void Iterate(const control_loops::IntakeGoal *unsafe_goal,
const ::frc971::PotAndAbsolutePosition *position, double *output,
- ::frc971::control_loops::AbsoluteProfiledJointStatus *status);
+ ::frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus
+ *status);
void Reset();
diff --git a/y2017/control_loops/superstructure/superstructure.q b/y2017/control_loops/superstructure/superstructure.q
index 60c5e16..5c0771c 100644
--- a/y2017/control_loops/superstructure/superstructure.q
+++ b/y2017/control_loops/superstructure/superstructure.q
@@ -200,7 +200,7 @@
bool estopped;
// Each subsystems status.
- .frc971.control_loops.AbsoluteProfiledJointStatus intake;
+ .frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus intake;
.frc971.control_loops.IndexProfiledJointStatus hood;
ShooterStatus shooter;
diff --git a/y2019/control_loops/superstructure/superstructure.q b/y2019/control_loops/superstructure/superstructure.q
index 2cd7238..fef9ced 100644
--- a/y2019/control_loops/superstructure/superstructure.q
+++ b/y2019/control_loops/superstructure/superstructure.q
@@ -67,10 +67,10 @@
bool has_piece;
// Status of each subsystem.
- .frc971.control_loops.AbsoluteProfiledJointStatus elevator;
- .frc971.control_loops.AbsoluteProfiledJointStatus wrist;
- .frc971.control_loops.AbsoluteProfiledJointStatus intake;
- .frc971.control_loops.AbsoluteProfiledJointStatus stilts;
+ .frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus elevator;
+ .frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus wrist;
+ .frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus intake;
+ .frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus stilts;
};
message Position {