commit c892e92fff7a1dc16642b10e084782674e0e78ae
author Ariv Diggi <arivdiggi@gmail.com> Sat Oct 21 15:52:06 2023 -0700
committer Ariv Diggi <arivdiggi@gmail.com> Sat Oct 21 16:12:29 2023 -0700
tree a3deda9b4db4d160d87f1d8a00cc866e8a63ac16
parent edd98686cdc0589b5532f28638994b2931b8ffa7

Third robot end effector

Signed-off-by: Logan Isaacson <100030671@mvla.net>
Change-Id: Iba7b08c0ecd5828542ef769d7a85cd0f3737f5bf

y2023_bot3/control_loops/superstructure/superstructure.h

diff --git a/y2023_bot3/control_loops/superstructure/superstructure.h b/y2023_bot3/control_loops/superstructure/superstructure.h
index 204bb2c..4b3d488 100644
--- a/y2023_bot3/control_loops/superstructure/superstructure.h
+++ b/y2023_bot3/control_loops/superstructure/superstructure.h
@@ -9,6 +9,7 @@
 #include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
 #include "y2023_bot3/constants.h"
 #include "y2023_bot3/constants/constants_generated.h"
+#include "y2023_bot3/control_loops/superstructure/end_effector.h"
 #include "y2023_bot3/control_loops/superstructure/superstructure_goal_generated.h"
 #include "y2023_bot3/control_loops/superstructure/superstructure_output_generated.h"
 #include "y2023_bot3/control_loops/superstructure/superstructure_position_generated.h"
@@ -27,6 +28,8 @@
 
   double robot_velocity() const;
 
+  inline const EndEffector &end_effector() const { return end_effector_; }
+
  protected:
   virtual void RunIteration(const Goal *unsafe_goal, const Position *position,
                             aos::Sender<Output>::Builder *output,
@@ -39,6 +42,8 @@
   std::shared_ptr<const constants::Values> values_;
   frc971::constants::ConstantsFetcher<Constants> constants_fetcher_;
 
+  EndEffector end_effector_;
+
   aos::Alliance alliance_ = aos::Alliance::kInvalid;
 
   DISALLOW_COPY_AND_ASSIGN(Superstructure);