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/superstructure.h

diff --git a/y2020/control_loops/superstructure/superstructure.h b/y2020/control_loops/superstructure/superstructure.h
index 8f3eb0a..3eb6cb2 100644
--- a/y2020/control_loops/superstructure/superstructure.h
+++ b/y2020/control_loops/superstructure/superstructure.h
@@ -6,6 +6,7 @@
 #include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
 #include "frc971/input/joystick_state_generated.h"
 #include "y2020/constants.h"
+#include "y2020/control_loops/superstructure/hood/hood_encoder_zeroing_estimator.h"
 #include "y2020/control_loops/superstructure/shooter/shooter.h"
 #include "y2020/control_loops/superstructure/superstructure_goal_generated.h"
 #include "y2020/control_loops/superstructure/superstructure_output_generated.h"
@@ -43,9 +44,10 @@
           ::frc971::control_loops::AbsoluteEncoderProfiledJointStatus>;
   using AbsoluteAndAbsoluteEncoderSubsystem =
       ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystem<
-          ::frc971::zeroing::AbsoluteAndAbsoluteEncoderZeroingEstimator,
+          hood::HoodEncoderZeroingEstimator,
           ::frc971::control_loops::
-              AbsoluteAndAbsoluteEncoderProfiledJointStatus>;
+              AbsoluteAndAbsoluteEncoderProfiledJointStatus,
+          frc971::zeroing::AbsoluteAndAbsoluteEncoderZeroingEstimator>;
 
   const AbsoluteAndAbsoluteEncoderSubsystem &hood() const { return hood_; }
   const AbsoluteEncoderSubsystem &intake_joint() const { return intake_joint_; }