commit dd72800cfa18e4b70b5f7245317e78e9334cd128
author Nathan Leong <100028864@mvla.net> Sat Feb 03 15:26:53 2024 -0800
committer Nathan Leong <nathanrleong@gmail.com> Sat Feb 03 16:34:33 2024 -0700
tree 8131f9aa1cab294b4368e5520e4f9882880613b7
parent c7879b644c08dd8e29e296879e7cbd572e4add2f

Refactor year-agnostic catapult code to frc971

This breaks up the y2022 catapult code into multiple files and moves
them into the frc971 folder. Year-specific parameters are now
provided via the constructors, and the goal message is moved into
frc971 as well.

Signed-off-by: Niko Sohmers <nikolai@sohmers.com>
Change-Id: I4ea720ae62a7c6c229d6c24a1f08edd7bc5b9728

y2022/actors/autonomous_actor.cc

diff --git a/y2022/actors/autonomous_actor.cc b/y2022/actors/autonomous_actor.cc
index 41f7e04..ec650ac 100644
--- a/y2022/actors/autonomous_actor.cc
+++ b/y2022/actors/autonomous_actor.cc
@@ -32,6 +32,7 @@
 using ::frc971::ProfileParametersT;
 using frc971::control_loops::CreateStaticZeroingSingleDOFProfiledSubsystemGoal;
 using frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal;
+using frc971::control_loops::catapult::CatapultGoal;
 using frc971::control_loops::drivetrain::LocalizerControl;
 
 namespace chrono = ::std::chrono;
@@ -401,11 +402,11 @@
               *builder.fbb(), kCatapultReturnPosition,
               CreateProfileParameters(*builder.fbb(), 9.0, 50.0));
 
-  superstructure::CatapultGoal::Builder catapult_goal_builder(*builder.fbb());
+  CatapultGoal::Builder catapult_goal_builder(*builder.fbb());
   catapult_goal_builder.add_shot_position(0.03);
   catapult_goal_builder.add_shot_velocity(18.0);
   catapult_goal_builder.add_return_position(catapult_return_position_offset);
-  flatbuffers::Offset<superstructure::CatapultGoal> catapult_goal_offset =
+  flatbuffers::Offset<CatapultGoal> catapult_goal_offset =
       catapult_goal_builder.Finish();
 
   superstructure::Goal::Builder superstructure_builder =