Added hood to main superstructure loop
Change-Id: I5b57b3d08fcdcb23a04db72accba2603da3a3270
diff --git a/y2020/control_loops/superstructure/superstructure.h b/y2020/control_loops/superstructure/superstructure.h
index 9aaca8e..dbc1ccd 100644
--- a/y2020/control_loops/superstructure/superstructure.h
+++ b/y2020/control_loops/superstructure/superstructure.h
@@ -19,12 +19,21 @@
explicit Superstructure(::aos::EventLoop *event_loop,
const ::std::string &name = "/superstructure");
+ using AbsoluteEncoderSubsystem =
+ ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystem<
+ ::frc971::zeroing::AbsoluteEncoderZeroingEstimator,
+ ::frc971::control_loops::AbsoluteEncoderProfiledJointStatus>;
+
+ const AbsoluteEncoderSubsystem &hood() const { return hood_; }
+
protected:
virtual void RunIteration(const Goal *unsafe_goal, const Position *position,
aos::Sender<Output>::Builder *output,
aos::Sender<Status>::Builder *status) override;
private:
+ AbsoluteEncoderSubsystem hood_;
+
DISALLOW_COPY_AND_ASSIGN(Superstructure);
};