commit c29f457d83ec9ca9379406ff20400bd639fc261e
author James Kuszmaul <jabukuszmaul@gmail.com> Sat Feb 25 17:02:33 2023 -0800
committer James Kuszmaul <jabukuszmaul@gmail.com> Fri Mar 03 20:33:56 2023 -0800
tree efb44c71038c113523c3b004022e81a0c7b66809
parent 40ef0b8b0719ef4d9bac2592b1d29eccc1633535

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>

y2023/control_loops/drivetrain/drivetrain_main.cc

diff --git a/y2023/control_loops/drivetrain/drivetrain_main.cc b/y2023/control_loops/drivetrain/drivetrain_main.cc
index 32b2455..b13e76f 100644
--- a/y2023/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2023/control_loops/drivetrain/drivetrain_main.cc
@@ -5,6 +5,7 @@
 #include "frc971/control_loops/drivetrain/drivetrain.h"
 #include "frc971/control_loops/drivetrain/localization/puppet_localizer.h"
 #include "y2023/control_loops/drivetrain/drivetrain_base.h"
+#include "y2023/control_loops/drivetrain/target_selector.h"
 
 using ::frc971::control_loops::drivetrain::DrivetrainLoop;
 
@@ -19,7 +20,9 @@
       localizer = std::make_unique<
           ::frc971::control_loops::drivetrain::PuppetLocalizer>(
           &event_loop,
-          ::y2023::control_loops::drivetrain::GetDrivetrainConfig());
+          ::y2023::control_loops::drivetrain::GetDrivetrainConfig(),
+          std::make_unique<::y2023::control_loops::drivetrain::TargetSelector>(
+              &event_loop));
   std::unique_ptr<DrivetrainLoop> drivetrain = std::make_unique<DrivetrainLoop>(
       y2023::control_loops::drivetrain::GetDrivetrainConfig(), &event_loop,
       localizer.get());