commit d53408ee271236d4b3ac2879b31b7eb833426481
author milind-u <milind.upadhyay@gmail.com> Thu Oct 21 19:43:58 2021 -0700
committer milind-u <milind.upadhyay@gmail.com> Wed Oct 27 20:09:36 2021 -0700
tree 351cdd5b10c26b1faf19f715a8afe09546522984
parent 84b08bec8f87138e0f6812082c281cd29f5c2d3f

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>

y2020/control_loops/superstructure/hood/BUILD

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",
+    ],
+)