Convert control loop tests over to simulated event loop
This makes it so that we properly only use ShmEventLoop for running in
realtime on a robot. Very nice.
Change-Id: I46b770b336f59e08cfaf28511b3bd5689f72fff1
diff --git a/y2019/control_loops/superstructure/collision_avoidance.cc b/y2019/control_loops/superstructure/collision_avoidance.cc
index 9f7cc9b..eb5b591 100644
--- a/y2019/control_loops/superstructure/collision_avoidance.cc
+++ b/y2019/control_loops/superstructure/collision_avoidance.cc
@@ -31,11 +31,14 @@
}
bool CollisionAvoidance::IsCollided(const SuperstructureQueue::Status *status) {
- const double wrist_position = status->wrist.position;
- const double elevator_position = status->elevator.position;
- const double intake_position = status->intake.position;
- const bool has_piece = status->has_piece;
+ return IsCollided(status->wrist.position, status->elevator.position,
+ status->intake.position, status->has_piece);
+}
+bool CollisionAvoidance::IsCollided(const double wrist_position,
+ const double elevator_position,
+ const double intake_position,
+ const bool has_piece) {
const double wrist_elevator_collision_max_angle =
has_piece ? kWristElevatorCollisionMaxAngle
: kWristElevatorCollisionMaxAngleWithoutObject;