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
diff --git a/y2022/joystick_reader.cc b/y2022/joystick_reader.cc
index 9993e8f..dda5b9c 100644
--- a/y2022/joystick_reader.cc
+++ b/y2022/joystick_reader.cc
@@ -26,6 +26,7 @@
using frc971::CreateProfileParameters;
using frc971::control_loops::CreateStaticZeroingSingleDOFProfiledSubsystemGoal;
using frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal;
+using frc971::control_loops::catapult::CatapultGoal;
using frc971::input::driver_station::ButtonLocation;
using frc971::input::driver_station::ControlBit;
using frc971::input::driver_station::JoystickAxis;
@@ -320,12 +321,12 @@
*builder.fbb(), climber_position,
frc971::CreateProfileParameters(*builder.fbb(), 1.0, 1.0));
- superstructure::CatapultGoal::Builder catapult_builder =
- builder.MakeBuilder<superstructure::CatapultGoal>();
+ CatapultGoal::Builder catapult_builder =
+ builder.MakeBuilder<CatapultGoal>();
catapult_builder.add_return_position(catapult_return_offset);
catapult_builder.add_shot_position(catapult_pos);
catapult_builder.add_shot_velocity(catapult_speed);
- flatbuffers::Offset<superstructure::CatapultGoal> catapult_offset =
+ flatbuffers::Offset<CatapultGoal> catapult_offset =
catapult_builder.Finish();
superstructure::Goal::Builder superstructure_goal_builder =