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/control_loops/superstructure/superstructure.h

diff --git a/y2022/control_loops/superstructure/superstructure.h b/y2022/control_loops/superstructure/superstructure.h
index 36269e9..3e10956 100644
--- a/y2022/control_loops/superstructure/superstructure.h
+++ b/y2022/control_loops/superstructure/superstructure.h
@@ -2,11 +2,13 @@
 #define Y2022_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_
 
 #include "aos/events/event_loop.h"
+#include "frc971/control_loops/catapult/catapult.h"
 #include "frc971/control_loops/control_loop.h"
 #include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
 #include "frc971/zeroing/pot_and_absolute_encoder.h"
 #include "y2022/constants.h"
-#include "y2022/control_loops/superstructure/catapult/catapult.h"
+#include "y2022/control_loops/superstructure/catapult/catapult_plant.h"
+#include "y2022/control_loops/superstructure/catapult/integral_catapult_plant.h"
 #include "y2022/control_loops/superstructure/collision_avoidance.h"
 #include "y2022/control_loops/superstructure/superstructure_can_position_generated.h"
 #include "y2022/control_loops/superstructure/superstructure_goal_generated.h"
@@ -70,7 +72,7 @@
   PotAndAbsoluteEncoderSubsystem intake_front_;
   PotAndAbsoluteEncoderSubsystem intake_back_;
   PotAndAbsoluteEncoderSubsystem turret_;
-  catapult::Catapult catapult_;
+  ::frc971::control_loops::catapult::Catapult catapult_;
 
   CollisionAvoidance collision_avoidance_;