Add y2023 folder
2022 Bot specific things were removed
Change-Id: I6563d477a65bf2eae5d39933003742bd372cf82e
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Signed-off-by: Xander Yee <xander.yee@gmail.com>
diff --git a/y2023/control_loops/superstructure/superstructure.h b/y2023/control_loops/superstructure/superstructure.h
new file mode 100644
index 0000000..0740de3
--- /dev/null
+++ b/y2023/control_loops/superstructure/superstructure.h
@@ -0,0 +1,57 @@
+#ifndef Y2023_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_
+#define Y2023_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_
+
+#include "aos/events/event_loop.h"
+#include "frc971/control_loops/control_loop.h"
+#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
+#include "y2023/constants.h"
+#include "y2023/control_loops/superstructure/superstructure_goal_generated.h"
+#include "y2023/control_loops/superstructure/superstructure_output_generated.h"
+#include "y2023/control_loops/superstructure/superstructure_position_generated.h"
+#include "y2023/control_loops/superstructure/superstructure_status_generated.h"
+
+namespace y2023 {
+namespace control_loops {
+namespace superstructure {
+
+class Superstructure
+ : public ::frc971::controls::ControlLoop<Goal, Position, Status, Output> {
+ public:
+ using RelativeEncoderSubsystem =
+ ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystem<
+ ::frc971::zeroing::RelativeEncoderZeroingEstimator,
+ ::frc971::control_loops::RelativeEncoderProfiledJointStatus>;
+
+ using PotAndAbsoluteEncoderSubsystem =
+ ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystem<
+ ::frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator,
+ ::frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus>;
+
+ explicit Superstructure(::aos::EventLoop *event_loop,
+ std::shared_ptr<const constants::Values> values,
+ const ::std::string &name = "/superstructure");
+
+ double robot_velocity() const;
+
+ protected:
+ virtual void RunIteration(const Goal *unsafe_goal, const Position *position,
+ aos::Sender<Output>::Builder *output,
+ aos::Sender<Status>::Builder *status) override;
+
+ private:
+ std::shared_ptr<const constants::Values> values_;
+
+ aos::Fetcher<frc971::control_loops::drivetrain::Status>
+ drivetrain_status_fetcher_;
+ aos::Fetcher<aos::JoystickState> joystick_state_fetcher_;
+
+ aos::Alliance alliance_ = aos::Alliance::kInvalid;
+
+ DISALLOW_COPY_AND_ASSIGN(Superstructure);
+};
+
+} // namespace superstructure
+} // namespace control_loops
+} // namespace y2023
+
+#endif // Y2023_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_