commit cf451fb2954a771dbeb10a2709cc8cbc5e94f508
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Fri Mar 10 20:42:36 2023 -0800
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Sat Mar 11 11:51:48 2023 -0800
tree 0374a772dc7524a3455e336ac2026b341004227e
parent 2ffbee8df92e768e514d3209ac5ce1d4a57c89b5

Refactor game piece position code & latch in target selector

Move the conversions to where they belong in the superstructure code,
and make the target selector latch the game piece position while it
has a target.

Change-Id: I4cd96fad9f327a241a146024ba38bcf34dfc8564
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

y2023/constants/simulated_constants_sender.cc

diff --git a/y2023/constants/simulated_constants_sender.cc b/y2023/constants/simulated_constants_sender.cc
index f18c3c1..8bfc17d 100644
--- a/y2023/constants/simulated_constants_sender.cc
+++ b/y2023/constants/simulated_constants_sender.cc
@@ -5,7 +5,7 @@
 #include "frc971/constants/constants_sender_lib.h"
 
 namespace y2023 {
-void SendSimulationConstants(aos::SimulatedEventLoopFactory *factory, int team,
+bool SendSimulationConstants(aos::SimulatedEventLoopFactory *factory, int team,
                              std::string constants_path) {
   for (const aos::Node *node : factory->nodes()) {
     std::unique_ptr<aos::EventLoop> event_loop =
@@ -13,5 +13,6 @@
     frc971::constants::ConstantSender<Constants, ConstantsList> sender(
         event_loop.get(), constants_path, team, "/constants");
   }
+  return true;
 }
 }  // namespace y2023

y2023/constants/simulated_constants_sender.h

diff --git a/y2023/constants/simulated_constants_sender.h b/y2023/constants/simulated_constants_sender.h
index 44a868c..096ee20 100644
--- a/y2023/constants/simulated_constants_sender.h
+++ b/y2023/constants/simulated_constants_sender.h
@@ -5,7 +5,9 @@
 #include "aos/testing/path.h"
 
 namespace y2023 {
-void SendSimulationConstants(
+// Returns true, to allow this to be easily called in the initializer list of a
+// constructor.
+bool SendSimulationConstants(
     aos::SimulatedEventLoopFactory *factory, int team,
     std::string constants_path =
         aos::testing::ArtifactPath("y2023/constants/test_constants.json"));

y2023/constants/test_data/test_team.json

diff --git a/y2023/constants/test_data/test_team.json b/y2023/constants/test_data/test_team.json
index f09b23e..a1e77af 100644
--- a/y2023/constants/test_data/test_team.json
+++ b/y2023/constants/test_data/test_team.json
@@ -14,5 +14,19 @@
     }
   ],
   "target_map": {% include 'y2023/constants/test_data/target_map.json' %},
-  "scoring_map": {% include 'y2023/constants/test_data/scoring_map.json' %}
+  "scoring_map": {% include 'y2023/constants/test_data/scoring_map.json' %},
+  "robot": {
+    "tof": {
+      "interpolation_table": [
+        {
+          "tof_reading": 0.1,
+          "lateral_position": 0.2
+        },
+        {
+          "tof_reading": 0.90,
+          "lateral_position": -0.2
+        }
+      ]
+    }
+  }
 }