commit b9ba9a5289b54eb0b1b910832e65362346065851
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Thu Mar 31 22:16:01 2022 -0700
committer Austin Schuh <austin.linux@gmail.com> Wed Apr 06 17:09:04 2022 -0700
tree c6547ee8eb4a5f3de230ea93a78cca44bc82b9d9
parent 235e2d9764761a071fd5f2283002be3dd89dc0d6

Add interpolation table for auto-aim speed-over-ground

We actually have a shot velocity that varies significantly with
distance.

Change-Id: I3a4a59ef3cb181c9f437d50f865d04f710a7f961
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

y2022/control_loops/superstructure/turret/aiming.h

diff --git a/y2022/control_loops/superstructure/turret/aiming.h b/y2022/control_loops/superstructure/turret/aiming.h
index 9494103..4eabe3e 100644
--- a/y2022/control_loops/superstructure/turret/aiming.h
+++ b/y2022/control_loops/superstructure/turret/aiming.h
@@ -2,10 +2,11 @@
 #define Y2022_CONTROL_LOOPS_SUPERSTRUCTURE_TURRET_AIMING_H_
 
 #include "aos/flatbuffers.h"
+#include "frc971/control_loops/aiming/aiming.h"
 #include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
 #include "frc971/control_loops/pose.h"
 #include "frc971/control_loops/profiled_subsystem_generated.h"
-#include "frc971/control_loops/aiming/aiming.h"
+#include "y2022/constants.h"
 #include "y2022/control_loops/superstructure/superstructure_status_generated.h"
 
 namespace y2022::control_loops::superstructure::turret {
@@ -19,7 +20,7 @@
   typedef frc971::control_loops::drivetrain::Status Status;
   typedef frc971::control_loops::aiming::ShotMode ShotMode;
 
-  Aimer();
+  Aimer(std::shared_ptr<const constants::Values> constants);
 
   void Update(const Status *status, ShotMode shot_mode);
 
@@ -32,6 +33,7 @@
       flatbuffers::FlatBufferBuilder *fbb) const;
 
  private:
+  std::shared_ptr<const constants::Values> constants_;
   aos::FlatbufferDetachedBuffer<Goal> goal_;
   frc971::control_loops::aiming::TurretGoal current_goal_;
 };