commit 9dcd520b2aa621cf065596b0cee73fce2dfec2c4
author Austin Schuh <austin.linux@gmail.com> Thu Feb 20 20:06:04 2020 -0800
committer Austin Schuh <austin.linux@gmail.com> Fri Feb 21 18:56:52 2020 -0800
tree 7304d350fe1c1d8c3c4e2fd005f3beabbd9157ba
parent b591709174bcab704c6ab92a73eafcd51e82e937

Update the sensor ratios

Pull sensor output ratios from the cad.  This process found that the
hood was being operated in such a way that the hood encoder was blowing
past 360 degrees and wrapping.  So fix that too.

Change-Id: I896458bb81461e7f032a464faa0b78e07d257c10

y2020/control_loops/superstructure/shooter/BUILD

diff --git a/y2020/control_loops/superstructure/shooter/BUILD b/y2020/control_loops/superstructure/shooter/BUILD
index d63231b..fe8a29a 100644
--- a/y2020/control_loops/superstructure/shooter/BUILD
+++ b/y2020/control_loops/superstructure/shooter/BUILD
@@ -4,18 +4,6 @@
 
 cc_library(
     name = "shooter_plants",
-    srcs = [
-        "//y2020/control_loops/superstructure/accelerator:accelerator_integral_plant.cc",
-        "//y2020/control_loops/superstructure/accelerator:accelerator_plant.cc",
-        "//y2020/control_loops/superstructure/finisher:finisher_integral_plant.cc",
-        "//y2020/control_loops/superstructure/finisher:finisher_plant.cc",
-    ],
-    hdrs = [
-        "//y2020/control_loops/superstructure/accelerator:accelerator_integral_plant.h",
-        "//y2020/control_loops/superstructure/accelerator:accelerator_plant.h",
-        "//y2020/control_loops/superstructure/finisher:finisher_integral_plant.h",
-        "//y2020/control_loops/superstructure/finisher:finisher_plant.h",
-    ],
     deps = [
         "//frc971/control_loops:state_feedback_loop",
     ],
@@ -49,10 +37,11 @@
         "flywheel_controller.h",
     ],
     deps = [
-        ":shooter_plants",
         "//aos/controls:control_loop",
         "//frc971/control_loops:profiled_subsystem",
         "//y2020/control_loops/superstructure:superstructure_goal_fbs",
         "//y2020/control_loops/superstructure:superstructure_status_fbs",
+        "//y2020/control_loops/superstructure/accelerator:accelerator_plants",
+        "//y2020/control_loops/superstructure/finisher:finisher_plants",
     ],
 )

y2020/control_loops/superstructure/shooter/flywheel_controller.h

diff --git a/y2020/control_loops/superstructure/shooter/flywheel_controller.h b/y2020/control_loops/superstructure/shooter/flywheel_controller.h
index 20cd681..0d162c4 100644
--- a/y2020/control_loops/superstructure/shooter/flywheel_controller.h
+++ b/y2020/control_loops/superstructure/shooter/flywheel_controller.h
@@ -6,8 +6,8 @@
 #include "aos/controls/control_loop.h"
 #include "aos/time/time.h"
 #include "frc971/control_loops/state_feedback_loop.h"
-#include "y2020/control_loops/superstructure/accelerator/accelerator_integral_plant.h"
-#include "y2020/control_loops/superstructure/finisher/finisher_integral_plant.h"
+#include "y2020/control_loops/superstructure/accelerator/integral_accelerator_plant.h"
+#include "y2020/control_loops/superstructure/finisher/integral_finisher_plant.h"
 #include "y2020/control_loops/superstructure/superstructure_status_generated.h"
 
 namespace y2020 {