Provide 2023 target selector
This should let us do the exact same logic as y2019. This means that the
driver has to control drivetrain velocity directly (not, e.g.,
position), but is a logical first step.
This has an extremely initial tuning that should work sanely.
Does not support going backwards yet.
Change-Id: I29675be6e6d73106563f4abc6e823a1ffcb39946
Signed-off-by: James Kuszmaul <jabukuszmaul@gmail.com>
diff --git a/frc971/control_loops/drivetrain/localizer.h b/frc971/control_loops/drivetrain/localizer.h
index 67d681e..d590f1d 100644
--- a/frc971/control_loops/drivetrain/localizer.h
+++ b/frc971/control_loops/drivetrain/localizer.h
@@ -15,6 +15,7 @@
// state updates and then determine what poes we should be driving to.
class TargetSelectorInterface {
public:
+ virtual ~TargetSelectorInterface() {}
// Take the state as [x, y, theta, left_vel, right_vel]
// If unable to determine what target to go for, returns false. If a viable
// target is selected, then returns true and sets target_pose.
@@ -108,6 +109,7 @@
// manually set the target selector state.
class TrivialTargetSelector : public TargetSelectorInterface {
public:
+ virtual ~TrivialTargetSelector() {}
bool UpdateSelection(const ::Eigen::Matrix<double, 5, 1> &, double) override {
return has_target_;
}