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/control_loops/superstructure/superstructure.h

diff --git a/y2023/control_loops/superstructure/superstructure.h b/y2023/control_loops/superstructure/superstructure.h
index 0c8b2c0..1100b86 100644
--- a/y2023/control_loops/superstructure/superstructure.h
+++ b/y2023/control_loops/superstructure/superstructure.h
@@ -3,9 +3,11 @@
 
 #include "aos/events/event_loop.h"
 #include "aos/json_to_flatbuffer.h"
+#include "frc971/constants/constants_sender_lib.h"
 #include "frc971/control_loops/control_loop.h"
 #include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
 #include "y2023/constants.h"
+#include "y2023/constants/constants_generated.h"
 #include "y2023/control_loops/drivetrain/drivetrain_can_position_generated.h"
 #include "y2023/control_loops/superstructure/arm/arm.h"
 #include "y2023/control_loops/superstructure/arm/arm_trajectories_generated.h"
@@ -63,7 +65,11 @@
                             aos::Sender<Status>::Builder *status) override;
 
  private:
+  // Returns the Y coordinate of a game piece given the time-of-flight reading.
+  std::optional<double> LateralOffsetForTimeOfFlight(double reading);
+
   std::shared_ptr<const constants::Values> values_;
+  frc971::constants::ConstantsFetcher<Constants> constants_fetcher_;
 
   aos::Fetcher<frc971::control_loops::drivetrain::Status>
       drivetrain_status_fetcher_;