Make arm spline definition a ton easier
Remove all the redundant intermediate variables.
Change-Id: I1e1d93b8a4363f3498775a0eead3d14ae190e77a
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2023/control_loops/superstructure/arm/arm.cc b/y2023/control_loops/superstructure/arm/arm.cc
index fd265c4..03a1b21 100644
--- a/y2023/control_loops/superstructure/arm/arm.cc
+++ b/y2023/control_loops/superstructure/arm/arm.cc
@@ -38,7 +38,7 @@
search_graph_(MakeSearchGraph(&dynamics_, &trajectories_, alpha_unitizer_,
kVMax(), &hybrid_roll_joint_loop_)),
// Go to the start of the first trajectory.
- follower_(&dynamics_, &hybrid_roll_joint_loop_, NeutralPosPoint()),
+ follower_(&dynamics_, &hybrid_roll_joint_loop_, NeutralPoint()),
points_(PointList()),
current_node_(0) {
int i = 0;
@@ -92,7 +92,7 @@
}
// TODO(milind): should we default to the closest position?
- uint32_t filtered_goal = arm::NeutralPosIndex();
+ uint32_t filtered_goal = arm::NeutralIndex();
if (unsafe_goal != nullptr) {
filtered_goal = *unsafe_goal;
}
diff --git a/y2023/control_loops/superstructure/superstructure_lib_test.cc b/y2023/control_loops/superstructure/superstructure_lib_test.cc
index 0ecc5cf..801fc55 100644
--- a/y2023/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2023/control_loops/superstructure/superstructure_lib_test.cc
@@ -192,7 +192,7 @@
event_loop_->MakeFetcher<Status>("/superstructure")),
superstructure_output_fetcher_(
event_loop_->MakeFetcher<Output>("/superstructure")) {
- InitializeArmPosition(arm::NeutralPosPoint());
+ InitializeArmPosition(arm::NeutralPoint());
phased_loop_handle_ = event_loop_->AddPhasedLoop(
[this](int) {
// Skip this the first time.
@@ -447,7 +447,7 @@
*builder.fbb(), constants::Values::kWristRange().middle());
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
- goal_builder.add_arm_goal_position(arm::NeutralPosIndex());
+ goal_builder.add_arm_goal_position(arm::NeutralIndex());
goal_builder.add_trajectory_override(false);
goal_builder.add_wrist(wrist_offset);
goal_builder.add_roller_goal(RollerGoal::IDLE);
@@ -473,7 +473,7 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
- goal_builder.add_arm_goal_position(arm::NeutralPosIndex());
+ goal_builder.add_arm_goal_position(arm::NeutralIndex());
goal_builder.add_trajectory_override(false);
goal_builder.add_wrist(wrist_offset);
goal_builder.add_roller_goal(RollerGoal::IDLE);
@@ -505,7 +505,7 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_wrist(wrist_offset);
- goal_builder.add_arm_goal_position(arm::NeutralPosIndex());
+ goal_builder.add_arm_goal_position(arm::NeutralIndex());
ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
@@ -526,7 +526,7 @@
goal_builder.add_wrist(wrist_offset);
- goal_builder.add_arm_goal_position(arm::NeutralPosIndex());
+ goal_builder.add_arm_goal_position(arm::NeutralIndex());
ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
@@ -582,7 +582,7 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
- goal_builder.add_arm_goal_position(arm::NeutralPosIndex());
+ goal_builder.add_arm_goal_position(arm::NeutralIndex());
goal_builder.add_trajectory_override(false);
goal_builder.add_roller_goal(GetParam() == GamePiece::CONE
? RollerGoal::INTAKE_CONE
@@ -623,7 +623,7 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
- goal_builder.add_arm_goal_position(arm::NeutralPosIndex());
+ goal_builder.add_arm_goal_position(arm::NeutralIndex());
goal_builder.add_trajectory_override(false);
goal_builder.add_roller_goal(RollerGoal::IDLE);
@@ -659,7 +659,7 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
- goal_builder.add_arm_goal_position(arm::NeutralPosIndex());
+ goal_builder.add_arm_goal_position(arm::NeutralIndex());
goal_builder.add_trajectory_override(false);
goal_builder.add_roller_goal(GetParam() == GamePiece::CONE
? RollerGoal::INTAKE_CONE
@@ -698,7 +698,7 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
- goal_builder.add_arm_goal_position(arm::NeutralPosIndex());
+ goal_builder.add_arm_goal_position(arm::NeutralIndex());
goal_builder.add_trajectory_override(false);
goal_builder.add_roller_goal(RollerGoal::SPIT);
@@ -736,7 +736,7 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
- goal_builder.add_arm_goal_position(arm::NeutralPosIndex());
+ goal_builder.add_arm_goal_position(arm::NeutralIndex());
goal_builder.add_trajectory_override(false);
goal_builder.add_roller_goal(RollerGoal::IDLE);
@@ -780,7 +780,7 @@
{
auto builder = superstructure_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
- goal_builder.add_arm_goal_position(arm::NeutralPosIndex());
+ goal_builder.add_arm_goal_position(arm::NeutralIndex());
ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
@@ -803,7 +803,7 @@
TEST_F(SuperstructureTest, ArmMultistepMove) {
SetEnabled(true);
WaitUntilZeroed();
- superstructure_plant_.InitializeArmPosition(arm::NeutralPosPoint());
+ superstructure_plant_.InitializeArmPosition(arm::NeutralPoint());
{
auto builder = superstructure_goal_sender_.MakeBuilder();
@@ -819,7 +819,7 @@
{
auto builder = superstructure_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
- goal_builder.add_arm_goal_position(arm::ScoreLowPosIndex());
+ goal_builder.add_arm_goal_position(arm::ConeDownPosIndex());
ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}