Correct hood zeroing calculations
Used trig to find screw length based on hood angle, preventing incorrect
estops. Calculations based on
https://slack-files.com/T2752T5SA-F02JJ39RY03-f83f22b78d
Change-Id: I8a143d6dfe6476a4a57b702f9bd93cad5c6b9262
Signed-off-by: milind-u <milind.upadhyay@gmail.com>
diff --git a/y2020/control_loops/superstructure/hood/BUILD b/y2020/control_loops/superstructure/hood/BUILD
index d0e5953..3035a55 100644
--- a/y2020/control_loops/superstructure/hood/BUILD
+++ b/y2020/control_loops/superstructure/hood/BUILD
@@ -32,3 +32,18 @@
"//frc971/control_loops:state_feedback_loop",
],
)
+
+cc_library(
+ name = "hood_encoder_zeroing_estimator",
+ srcs = [
+ "hood_encoder_zeroing_estimator.cc",
+ ],
+ hdrs = [
+ "hood_encoder_zeroing_estimator.h",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ "//frc971/zeroing:zeroing",
+ "//y2020:constants",
+ ],
+)