Add shooter superstructure code
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
Change-Id: I559d79e1308c8ec6d434235e16f0273b4ce09f0d
diff --git a/y2024/control_loops/superstructure/superstructure.h b/y2024/control_loops/superstructure/superstructure.h
index f85e0fc..6c43863 100644
--- a/y2024/control_loops/superstructure/superstructure.h
+++ b/y2024/control_loops/superstructure/superstructure.h
@@ -11,6 +11,7 @@
#include "frc971/zeroing/pot_and_absolute_encoder.h"
#include "y2024/constants.h"
#include "y2024/constants/constants_generated.h"
+#include "y2024/control_loops/superstructure/shooter.h"
#include "y2024/control_loops/superstructure/superstructure_goal_generated.h"
#include "y2024/control_loops/superstructure/superstructure_output_generated.h"
#include "y2024/control_loops/superstructure/superstructure_position_generated.h"
@@ -43,6 +44,8 @@
return climber_;
}
+ inline const Shooter &shooter() const { return shooter_; }
+
double robot_velocity() const;
protected:
@@ -64,6 +67,8 @@
AbsoluteEncoderSubsystem intake_pivot_;
PotAndAbsoluteEncoderSubsystem climber_;
+ Shooter shooter_;
+
DISALLOW_COPY_AND_ASSIGN(Superstructure);
};