incorporate arm into superstructure.cc by adding arm constants
Change-Id: Icfd6ba91044b7a8f29f10edf8c4c44ae1a443d2c
Signed-off-by: Yash Maheshwari <yashmahe2018@gmail.com>
Signed-off-by: James (Peilun) Li <jamespeilunli@gmail.com>
diff --git a/y2024_bot3/control_loops/superstructure/superstructure.h b/y2024_bot3/control_loops/superstructure/superstructure.h
index 6362bc0..b7499c2 100644
--- a/y2024_bot3/control_loops/superstructure/superstructure.h
+++ b/y2024_bot3/control_loops/superstructure/superstructure.h
@@ -35,6 +35,8 @@
double robot_velocity() const;
+ inline const PotAndAbsoluteEncoderSubsystem &arm() const { return arm_; }
+
protected:
virtual void RunIteration(const Goal *unsafe_goal, const Position *position,
aos::Sender<Output>::Builder *output,
@@ -47,6 +49,8 @@
aos::Alliance alliance_ = aos::Alliance::kInvalid;
+ PotAndAbsoluteEncoderSubsystem arm_;
+
DISALLOW_COPY_AND_ASSIGN(Superstructure);
};