Support static flatbuffers in ContinuousAbsoluteEncoderZeroingEstimator
Change-Id: Ic4dac2ff1084e987b2b20286018821c02967975b
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/frc971/zeroing/continuous_absolute_encoder.cc b/frc971/zeroing/continuous_absolute_encoder.cc
index 3381833..733d46d 100644
--- a/frc971/zeroing/continuous_absolute_encoder.cc
+++ b/frc971/zeroing/continuous_absolute_encoder.cc
@@ -165,4 +165,14 @@
return builder.Finish();
}
+void ContinuousAbsoluteEncoderZeroingEstimator::GetEstimatorState(
+ AbsoluteEncoderEstimatorStateStatic *fbs) const {
+ errors_.ToStaticFlatbuffer(fbs->add_errors());
+
+ fbs->set_error(error_);
+ fbs->set_zeroed(zeroed_);
+ fbs->set_position(position_);
+ fbs->set_absolute_position(filtered_absolute_encoder_);
+}
+
} // namespace frc971::zeroing