Added indexer support, with stall detection.
Re-tuned some other loops while I was learning more about the indexer.
Change-Id: I893f1f273b31357ae9137601ca27322fc3b09d98
diff --git a/y2017/control_loops/superstructure/indexer/BUILD b/y2017/control_loops/superstructure/indexer/BUILD
index 3df0810..10b726f 100644
--- a/y2017/control_loops/superstructure/indexer/BUILD
+++ b/y2017/control_loops/superstructure/indexer/BUILD
@@ -9,6 +9,8 @@
'indexer_plant.cc',
'indexer_integral_plant.h',
'indexer_integral_plant.cc',
+ 'stuck_indexer_integral_plant.h',
+ 'stuck_indexer_integral_plant.cc',
],
)
@@ -18,12 +20,31 @@
srcs = [
'indexer_plant.cc',
'indexer_integral_plant.cc',
+ 'stuck_indexer_integral_plant.cc',
],
hdrs = [
'indexer_plant.h',
'indexer_integral_plant.h',
+ 'stuck_indexer_integral_plant.h',
],
deps = [
'//frc971/control_loops:state_feedback_loop',
],
)
+
+cc_library(
+ name = 'indexer',
+ visibility = ['//visibility:public'],
+ srcs = [
+ 'indexer.cc',
+ ],
+ hdrs = [
+ 'indexer.h',
+ ],
+ deps = [
+ ':indexer_plants',
+ '//aos/common/controls:control_loop',
+ '//aos/common:math',
+ '//y2017/control_loops/superstructure:superstructure_queue',
+ ],
+)