Merge Adam's zeroing updates and add TODOs.
This branch merges some of the updates that Adam got around to with
the version that's on master.
- Remove all code relating to the zeroing queue.
- Use the PotAndIndexPosition structure to initialize the zeroing
logic.
- Use the PositionSensorSimulator class to test the zeroing logic
instead of its own internal version.
- Removed the "SimpleStep" test since it was written for a type of
noise that used the 'floor' math function. We assume Gaussian noise
in the potentiometer.
Change-Id: I683c0647242092602eac9b8eff36466f0f28ad21
diff --git a/frc971/zeroing/zeroing.gyp b/frc971/zeroing/zeroing.gyp
index 3d17f13..a868e19 100644
--- a/frc971/zeroing/zeroing.gyp
+++ b/frc971/zeroing/zeroing.gyp
@@ -1,29 +1,16 @@
{
'targets': [
{
- 'target_name': 'zeroing_queue',
- 'type': 'static_library',
- 'sources': [
- '<(DEPTH)/frc971/zeroing/zeroing_queue.q',
- ],
- 'variables': {
- 'header_path': 'frc971/zeroing',
- },
- 'includes': ['../../aos/build/queues.gypi'],
- },
- {
'target_name': 'zeroing',
'type': 'static_library',
'sources': [
'zeroing.cc',
],
'dependencies': [
- 'zeroing_queue',
'<(DEPTH)/frc971/control_loops/control_loops.gyp:queues',
'<(DEPTH)/frc971/frc971.gyp:constants',
],
'export_dependent_settings': [
- 'zeroing_queue',
'<(DEPTH)/frc971/frc971.gyp:constants',
'<(DEPTH)/frc971/control_loops/control_loops.gyp:queues',
],
@@ -38,9 +25,10 @@
'<(EXTERNALS):gtest',
'<(AOS)/common/common.gyp:queue_testutils',
'zeroing',
- 'zeroing_queue',
'<(AOS)/common/util/util.gyp:thread',
'<(AOS)/common/common.gyp:die',
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:position_sensor_sim',
+ '<(DEPTH)/frc971/control_loops/control_loops.gyp:queues',
],
},
],