Renamed constants to be in a claw structure.
diff --git a/frc971/constants.h b/frc971/constants.h
index 1a4f39a..94061cc 100755
--- a/frc971/constants.h
+++ b/frc971/constants.h
@@ -40,36 +40,38 @@
::std::function<StateFeedbackLoop<2, 2, 2>()> make_v_drivetrain_loop;
::std::function<StateFeedbackLoop<4, 2, 2>()> make_drivetrain_loop;
- double claw_zeroing_off_speed;
- double claw_zeroing_speed;
- double claw_zeroing_separation;
+ struct Claws {
+ double claw_zeroing_off_speed;
+ double claw_zeroing_speed;
+ double claw_zeroing_separation;
- // claw seperation that would be considered a collision
- double claw_min_seperation;
- double claw_max_seperation;
+ // claw seperation that would be considered a collision
+ double claw_min_seperation;
+ double claw_max_seperation;
- // Three hall effects are known as front, calib and back
- struct AnglePair {
- double lower_angle;
- double upper_angle;
+ // Three hall effects are known as front, calib and back
+ struct AnglePair {
+ double lower_angle;
+ double upper_angle;
+ };
+
+ struct Claw {
+ double lower_hard_limit;
+ double upper_hard_limit;
+ double lower_limit;
+ double upper_limit;
+ AnglePair front;
+ AnglePair calibration;
+ AnglePair back;
+ };
+
+ Claw upper_claw;
+ Claw lower_claw;
+
+ double claw_unimportant_epsilon;
+ double start_fine_tune_pos;
};
-
- struct Claw {
- double lower_hard_limit;
- double upper_hard_limit;
- double lower_limit;
- double upper_limit;
- AnglePair front;
- AnglePair calibration;
- AnglePair back;
- };
-
-
- Claw upper_claw;
- Claw lower_claw;
-
- double claw_unimportant_epsilon;
- double start_fine_tune_pos;
+ Claws claw;
};
// Creates (once) a Values instance and returns a reference to it.