commit ac76bb352f9aabddac35d190bdbbb0bbb58963ba
author Austin Schuh <austin.linux@gmail.com> Wed Mar 22 22:34:26 2017 -0700
committer Austin Schuh <austin.linux@gmail.com> Sat Mar 25 15:17:09 2017 -0700
tree ec8d1ccdb3ad268018edfd779d6b278bb154f6df
parent 53a2c45342e608424f7ae00224c12074c8c404af

Hooked vision up to the turret.

Change-Id: I87762fdedf8572f7bdc17711c96b4e2f5a7251ba

y2017/control_loops/superstructure/column/column.h

diff --git a/y2017/control_loops/superstructure/column/column.h b/y2017/control_loops/superstructure/column/column.h
index 6bd7aa5..b952a78 100644
--- a/y2017/control_loops/superstructure/column/column.h
+++ b/y2017/control_loops/superstructure/column/column.h
@@ -15,6 +15,7 @@
 #include "y2017/control_loops/superstructure/column/column_zeroing.h"
 #include "y2017/control_loops/superstructure/intake/intake.h"
 #include "y2017/control_loops/superstructure/superstructure.q.h"
+#include "y2017/control_loops/superstructure/vision_time_adjuster.h"
 
 namespace y2017 {
 namespace control_loops {
@@ -176,7 +177,7 @@
   static constexpr double kIntakeZeroingMinDistance = 0.08;
   static constexpr double kIntakeTolerance = 0.005;
   static constexpr double kStuckZeroingTrackingError = 0.02;
-  static constexpr double kTurretNearZero = 0.1;
+  static constexpr double kTurretNearZero = M_PI / 2.0;
 
   void Iterate(const control_loops::IndexerGoal *unsafe_indexer_goal,
                const control_loops::TurretGoal *unsafe_turret_goal,
@@ -213,6 +214,8 @@
 
   bool freeze_ = false;
 
+  VisionTimeAdjuster vision_time_adjuster_;
+
   // The last time that we transitioned from RUNNING to REVERSING or the
   // reverse.  Used to implement the timeouts.
   ::aos::monotonic_clock::time_point last_transition_time_ =