Template the ZeroingEstimator type
We want to use several different ones this year.
Change-Id: Icb71f331e410da32fc6f2d18c5f28b21995849a5
diff --git a/frc971/zeroing/zeroing.h b/frc971/zeroing/zeroing.h
index c86ca01..1872ad0 100644
--- a/frc971/zeroing/zeroing.h
+++ b/frc971/zeroing/zeroing.h
@@ -19,10 +19,13 @@
namespace frc971 {
namespace zeroing {
-// Estimates the position with encoder,
-// the pot and the indices.
+// Estimates the position with an incremental encoder with an index pulse and a
+// potentiometer.
class PotAndIndexPulseZeroingEstimator {
public:
+ using Position = PotAndIndexPosition;
+ using ZeroingConstants = constants::PotAndIndexPulseZeroingConstants;
+
PotAndIndexPulseZeroingEstimator(
const constants::PotAndIndexPulseZeroingConstants &constants);