Split up zeroing library BUILD rules
There was no good reason for one build rule to have both the interface
and a bunch of implementations; split it up and make the relevant users
depend on the libraries directly.
Change-Id: If6a0aa49dd7ea588b7325604658bc0594db4aac0
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/frc971/control_loops/BUILD b/frc971/control_loops/BUILD
index 3cdb6ab..31b245b 100644
--- a/frc971/control_loops/BUILD
+++ b/frc971/control_loops/BUILD
@@ -416,6 +416,7 @@
"//aos/util:trapezoid_profile",
"//frc971/control_loops:control_loop",
"//frc971/zeroing",
+ "//frc971/zeroing:pot_and_index",
],
)
@@ -661,6 +662,9 @@
":static_zeroing_single_dof_profiled_subsystem_test_subsystem_output_fbs",
"//aos/testing:googletest",
"//frc971/control_loops:control_loop_test",
+ "//frc971/zeroing:absolute_and_absolute_encoder",
+ "//frc971/zeroing:absolute_encoder",
+ "//frc971/zeroing:pot_and_absolute_encoder",
],
)
diff --git a/frc971/control_loops/profiled_subsystem.h b/frc971/control_loops/profiled_subsystem.h
index dff5aad..1fa8ac2 100644
--- a/frc971/control_loops/profiled_subsystem.h
+++ b/frc971/control_loops/profiled_subsystem.h
@@ -15,6 +15,7 @@
#include "frc971/control_loops/profiled_subsystem_generated.h"
#include "frc971/control_loops/simple_capped_state_feedback_loop.h"
#include "frc971/control_loops/state_feedback_loop.h"
+#include "frc971/zeroing/pot_and_index.h"
#include "frc971/zeroing/zeroing.h"
namespace frc971 {
diff --git a/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.cc b/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.cc
index c886775..ace528e 100644
--- a/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.cc
+++ b/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.cc
@@ -16,6 +16,8 @@
#include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test_pot_and_absolute_position_generated.h"
#include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test_subsystem_goal_generated.h"
#include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test_subsystem_output_generated.h"
+#include "frc971/zeroing/absolute_encoder.h"
+#include "frc971/zeroing/pot_and_absolute_encoder.h"
#include "frc971/zeroing/zeroing.h"
using ::frc971::control_loops::PositionSensorSimulator;
diff --git a/frc971/zeroing/BUILD b/frc971/zeroing/BUILD
index 07e9852..8ca7f67 100644
--- a/frc971/zeroing/BUILD
+++ b/frc971/zeroing/BUILD
@@ -61,22 +61,8 @@
cc_library(
name = "zeroing",
srcs = [
- "absolute_and_absolute_encoder.cc",
- "absolute_encoder.cc",
- "continuous_absolute_encoder.cc",
- "hall_effect_and_position.cc",
- "pot_and_absolute_encoder.cc",
- "pot_and_index.cc",
- "pulse_index.cc",
],
hdrs = [
- "absolute_and_absolute_encoder.h",
- "absolute_encoder.h",
- "continuous_absolute_encoder.h",
- "hall_effect_and_position.h",
- "pot_and_absolute_encoder.h",
- "pot_and_index.h",
- "pulse_index.h",
"zeroing.h",
],
target_compatible_with = ["@platforms//os:linux"],
@@ -90,20 +76,10 @@
],
)
-cc_test(
- name = "zeroing_test",
- srcs = [
- "absolute_and_absolute_encoder_test.cc",
- "absolute_encoder_test.cc",
- "continuous_absolute_encoder_test.cc",
- "hall_effect_and_position_test.cc",
- "pot_and_absolute_encoder_test.cc",
- "pot_and_index_test.cc",
- "pulse_index_test.cc",
- "relative_encoder_test.cc",
- "zeroing_test.h",
- ],
- target_compatible_with = ["@platforms//os:linux"],
+cc_library(
+ name = "zeroing_test_lib",
+ testonly = True,
+ hdrs = ["zeroing_test.h"],
deps = [
":zeroing",
"//aos/testing:googletest",
@@ -112,6 +88,46 @@
],
)
+[
+ (
+ cc_library(
+ name = lib,
+ srcs = [lib + ".cc"],
+ hdrs = [lib + ".h"],
+ deps = [
+ ":wrap",
+ ":zeroing",
+ "//aos/containers:error_list",
+ "//aos/logging",
+ "//frc971:constants",
+ "//frc971/control_loops:control_loops_fbs",
+ "@com_github_google_glog//:glog",
+ ],
+ ),
+ cc_test(
+ name = lib + "_test",
+ srcs = [lib + "_test.cc"],
+ deps = [
+ lib,
+ ":zeroing",
+ ":zeroing_test_lib",
+ "//aos/testing:googletest",
+ "//frc971/control_loops:control_loops_fbs",
+ "//frc971/control_loops:position_sensor_sim",
+ ],
+ ),
+ )
+ for lib in [
+ "absolute_and_absolute_encoder",
+ "absolute_encoder",
+ "continuous_absolute_encoder",
+ "hall_effect_and_position",
+ "pot_and_absolute_encoder",
+ "pot_and_index",
+ "pulse_index",
+ ]
+]
+
cc_library(
name = "wrap",
srcs = [
diff --git a/frc971/zeroing/absolute_encoder.h b/frc971/zeroing/absolute_encoder.h
index df40ec3..9d730f2 100644
--- a/frc971/zeroing/absolute_encoder.h
+++ b/frc971/zeroing/absolute_encoder.h
@@ -5,6 +5,7 @@
#include "flatbuffers/flatbuffers.h"
+#include "aos/containers/error_list.h"
#include "frc971/zeroing/zeroing.h"
namespace frc971 {
diff --git a/frc971/zeroing/continuous_absolute_encoder.h b/frc971/zeroing/continuous_absolute_encoder.h
index b912e84..e11d866 100644
--- a/frc971/zeroing/continuous_absolute_encoder.h
+++ b/frc971/zeroing/continuous_absolute_encoder.h
@@ -5,6 +5,7 @@
#include "flatbuffers/flatbuffers.h"
+#include "aos/containers/error_list.h"
#include "frc971/zeroing/zeroing.h"
namespace frc971 {
diff --git a/frc971/zeroing/zeroing.h b/frc971/zeroing/zeroing.h
index b0e6825..5d5b6eb 100644
--- a/frc971/zeroing/zeroing.h
+++ b/frc971/zeroing/zeroing.h
@@ -172,14 +172,4 @@
} // namespace zeroing
} // namespace frc971
-// TODO(Brian): Actually split these targets apart. Need to convert all the
-// reverse dependencies to #include what they actually need...
-#include "frc971/zeroing/absolute_and_absolute_encoder.h"
-#include "frc971/zeroing/absolute_encoder.h"
-#include "frc971/zeroing/continuous_absolute_encoder.h"
-#include "frc971/zeroing/hall_effect_and_position.h"
-#include "frc971/zeroing/pot_and_absolute_encoder.h"
-#include "frc971/zeroing/pot_and_index.h"
-#include "frc971/zeroing/pulse_index.h"
-
#endif // FRC971_ZEROING_ZEROING_H_
diff --git a/y2017/control_loops/superstructure/column/BUILD b/y2017/control_loops/superstructure/column/BUILD
index 2d83482..6e1cc7f 100644
--- a/y2017/control_loops/superstructure/column/BUILD
+++ b/y2017/control_loops/superstructure/column/BUILD
@@ -71,6 +71,8 @@
"//frc971:constants",
"//frc971/control_loops:profiled_subsystem_fbs",
"//frc971/zeroing",
+ "//frc971/zeroing:hall_effect_and_position",
+ "//frc971/zeroing:pulse_index",
"//frc971/zeroing:wrap",
"//y2017:constants",
"//y2017/control_loops/superstructure:superstructure_position_fbs",
diff --git a/y2017/control_loops/superstructure/column/column.cc b/y2017/control_loops/superstructure/column/column.cc
index 9acd190..b8a12f7 100644
--- a/y2017/control_loops/superstructure/column/column.cc
+++ b/y2017/control_loops/superstructure/column/column.cc
@@ -11,6 +11,7 @@
#include "frc971/constants.h"
#include "frc971/control_loops/profiled_subsystem.h"
#include "frc971/control_loops/state_feedback_loop.h"
+#include "frc971/zeroing/pulse_index.h"
#include "y2017/control_loops/superstructure/column/column_integral_plant.h"
#include "y2017/control_loops/superstructure/column/stuck_column_integral_plant.h"
diff --git a/y2017/control_loops/superstructure/column/column_zeroing.h b/y2017/control_loops/superstructure/column/column_zeroing.h
index a7fe47b..c07a504 100644
--- a/y2017/control_loops/superstructure/column/column_zeroing.h
+++ b/y2017/control_loops/superstructure/column/column_zeroing.h
@@ -2,6 +2,7 @@
#define Y2017_CONTROL_LOOPS_SUPERSTRUCTURE_COLUMN_H_
#include "frc971/constants.h"
+#include "frc971/zeroing/hall_effect_and_position.h"
#include "frc971/zeroing/zeroing.h"
#include "y2017/constants.h"
#include "y2017/control_loops/superstructure/superstructure_position_generated.h"
diff --git a/y2017/control_loops/superstructure/hood/BUILD b/y2017/control_loops/superstructure/hood/BUILD
index 8f162a7..9edcc8e 100644
--- a/y2017/control_loops/superstructure/hood/BUILD
+++ b/y2017/control_loops/superstructure/hood/BUILD
@@ -43,6 +43,7 @@
deps = [
":hood_plants",
"//frc971/control_loops:profiled_subsystem",
+ "//frc971/zeroing:pulse_index",
"//y2017:constants",
"//y2017/control_loops/superstructure:superstructure_goal_fbs",
"//y2017/control_loops/superstructure:superstructure_position_fbs",
diff --git a/y2017/control_loops/superstructure/hood/hood.h b/y2017/control_loops/superstructure/hood/hood.h
index 8284e6e..47ace6e 100644
--- a/y2017/control_loops/superstructure/hood/hood.h
+++ b/y2017/control_loops/superstructure/hood/hood.h
@@ -2,6 +2,7 @@
#define Y2017_CONTROL_LOOPS_SUPERSTRUCTURE_HOOD_HOOD_H_
#include "frc971/control_loops/profiled_subsystem.h"
+#include "frc971/zeroing/pulse_index.h"
#include "y2017/constants.h"
#include "y2017/control_loops/superstructure/superstructure_goal_generated.h"
diff --git a/y2017/control_loops/superstructure/intake/BUILD b/y2017/control_loops/superstructure/intake/BUILD
index 550c241..00642b0 100644
--- a/y2017/control_loops/superstructure/intake/BUILD
+++ b/y2017/control_loops/superstructure/intake/BUILD
@@ -43,6 +43,7 @@
deps = [
":intake_plants",
"//frc971/control_loops:profiled_subsystem",
+ "//frc971/zeroing:pot_and_absolute_encoder",
"//y2017:constants",
"//y2017/control_loops/superstructure:superstructure_goal_fbs",
],
diff --git a/y2017/control_loops/superstructure/intake/intake.h b/y2017/control_loops/superstructure/intake/intake.h
index a91d2f0..29899fb 100644
--- a/y2017/control_loops/superstructure/intake/intake.h
+++ b/y2017/control_loops/superstructure/intake/intake.h
@@ -2,6 +2,7 @@
#define Y2017_CONTROL_LOOPS_SUPERSTRUCTURE_INTAKE_INTAKE_H_
#include "frc971/control_loops/profiled_subsystem.h"
+#include "frc971/zeroing/pot_and_absolute_encoder.h"
#include "y2017/constants.h"
#include "y2017/control_loops/superstructure/superstructure_goal_generated.h"
diff --git a/y2018/control_loops/superstructure/arm/BUILD b/y2018/control_loops/superstructure/arm/BUILD
index 9f969ff..ec18f9d 100644
--- a/y2018/control_loops/superstructure/arm/BUILD
+++ b/y2018/control_loops/superstructure/arm/BUILD
@@ -15,6 +15,7 @@
"//frc971/control_loops/double_jointed_arm:graph",
"//frc971/control_loops/double_jointed_arm:trajectory",
"//frc971/zeroing",
+ "//frc971/zeroing:pot_and_absolute_encoder",
"//y2018:constants",
"//y2018/control_loops/superstructure:superstructure_position_fbs",
"//y2018/control_loops/superstructure:superstructure_status_fbs",
diff --git a/y2018/control_loops/superstructure/arm/arm.h b/y2018/control_loops/superstructure/arm/arm.h
index 0b0a6a4..a9cf614 100644
--- a/y2018/control_loops/superstructure/arm/arm.h
+++ b/y2018/control_loops/superstructure/arm/arm.h
@@ -6,6 +6,7 @@
#include "frc971/control_loops/double_jointed_arm/ekf.h"
#include "frc971/control_loops/double_jointed_arm/graph.h"
#include "frc971/control_loops/double_jointed_arm/trajectory.h"
+#include "frc971/zeroing/pot_and_absolute_encoder.h"
#include "frc971/zeroing/zeroing.h"
#include "y2018/constants.h"
#include "y2018/control_loops/superstructure/arm/generated_graph.h"
diff --git a/y2018/control_loops/superstructure/intake/BUILD b/y2018/control_loops/superstructure/intake/BUILD
index fa4eb7e..50d9989 100644
--- a/y2018/control_loops/superstructure/intake/BUILD
+++ b/y2018/control_loops/superstructure/intake/BUILD
@@ -46,6 +46,7 @@
"//frc971/control_loops:control_loop",
"//frc971/control_loops:control_loops_fbs",
"//frc971/zeroing",
+ "//frc971/zeroing:pot_and_absolute_encoder",
"//y2018:constants",
"//y2018/control_loops/superstructure:superstructure_output_fbs",
"//y2018/control_loops/superstructure:superstructure_position_fbs",
diff --git a/y2018/control_loops/superstructure/intake/intake.h b/y2018/control_loops/superstructure/intake/intake.h
index 09a7e4d..bec5ff6 100644
--- a/y2018/control_loops/superstructure/intake/intake.h
+++ b/y2018/control_loops/superstructure/intake/intake.h
@@ -5,6 +5,7 @@
#include "aos/commonmath.h"
#include "frc971/control_loops/control_loop.h"
+#include "frc971/zeroing/pot_and_absolute_encoder.h"
#include "frc971/zeroing/wrap.h"
#include "frc971/zeroing/zeroing.h"
#include "y2018/constants.h"
diff --git a/y2019/BUILD b/y2019/BUILD
index 2fba6d6..d388819 100644
--- a/y2019/BUILD
+++ b/y2019/BUILD
@@ -41,6 +41,8 @@
"//frc971/control_loops:pose",
"//frc971/control_loops:static_zeroing_single_dof_profiled_subsystem",
"//frc971/control_loops/drivetrain:camera",
+ "//frc971/zeroing:absolute_encoder",
+ "//frc971/zeroing:pot_and_absolute_encoder",
"//y2019/control_loops/drivetrain:polydrivetrain_plants",
"//y2019/control_loops/superstructure/elevator:elevator_plants",
"//y2019/control_loops/superstructure/intake:intake_plants",
diff --git a/y2019/constants.cc b/y2019/constants.cc
index 10582ed..380899a 100644
--- a/y2019/constants.cc
+++ b/y2019/constants.cc
@@ -12,6 +12,8 @@
#include "aos/network/team_number.h"
#include "aos/stl_mutex/stl_mutex.h"
+#include "frc971/zeroing/absolute_encoder.h"
+#include "frc971/zeroing/pot_and_absolute_encoder.h"
#include "y2019/control_loops/superstructure/elevator/integral_elevator_plant.h"
#include "y2019/control_loops/superstructure/intake/integral_intake_plant.h"
#include "y2019/control_loops/superstructure/stilts/integral_stilts_plant.h"
diff --git a/y2019/constants.h b/y2019/constants.h
index b6c1b55..a36e4b3 100644
--- a/y2019/constants.h
+++ b/y2019/constants.h
@@ -9,6 +9,8 @@
#include "frc971/control_loops/drivetrain/camera.h"
#include "frc971/control_loops/pose.h"
#include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h"
+#include "frc971/zeroing/absolute_encoder.h"
+#include "frc971/zeroing/pot_and_absolute_encoder.h"
#include "y2019/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
#include "y2019/control_loops/superstructure/elevator/elevator_plant.h"
#include "y2019/control_loops/superstructure/intake/intake_plant.h"
diff --git a/y2019/control_loops/superstructure/BUILD b/y2019/control_loops/superstructure/BUILD
index 9504c9f..f97c6f0 100644
--- a/y2019/control_loops/superstructure/BUILD
+++ b/y2019/control_loops/superstructure/BUILD
@@ -69,6 +69,8 @@
"//aos/events:event_loop",
"//frc971/control_loops:control_loop",
"//frc971/control_loops/drivetrain:drivetrain_status_fbs",
+ "//frc971/zeroing:absolute_encoder",
+ "//frc971/zeroing:pot_and_absolute_encoder",
"//y2019:constants",
"//y2019:status_light_fbs",
],
diff --git a/y2019/control_loops/superstructure/superstructure.h b/y2019/control_loops/superstructure/superstructure.h
index f8ad0fd..4d59132 100644
--- a/y2019/control_loops/superstructure/superstructure.h
+++ b/y2019/control_loops/superstructure/superstructure.h
@@ -5,6 +5,8 @@
#include "frc971/control_loops/control_loop.h"
#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
#include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h"
+#include "frc971/zeroing/absolute_encoder.h"
+#include "frc971/zeroing/pot_and_absolute_encoder.h"
#include "y2019/constants.h"
#include "y2019/control_loops/superstructure/collision_avoidance.h"
#include "y2019/control_loops/superstructure/superstructure_goal_generated.h"
diff --git a/y2020/BUILD b/y2020/BUILD
index 32d392a..7c04d99 100644
--- a/y2020/BUILD
+++ b/y2020/BUILD
@@ -77,6 +77,9 @@
"//frc971:constants",
"//frc971/control_loops:static_zeroing_single_dof_profiled_subsystem",
"//frc971/shooter_interpolation:interpolation",
+ "//frc971/zeroing:absolute_and_absolute_encoder",
+ "//frc971/zeroing:absolute_encoder",
+ "//frc971/zeroing:pot_and_absolute_encoder",
"//y2020/control_loops/drivetrain:polydrivetrain_plants",
"//y2020/control_loops/superstructure/accelerator:accelerator_plants",
"//y2020/control_loops/superstructure/control_panel:control_panel_plants",
diff --git a/y2020/constants.cc b/y2020/constants.cc
index 4d9d066..6218f9b 100644
--- a/y2020/constants.cc
+++ b/y2020/constants.cc
@@ -12,6 +12,9 @@
#include "aos/network/team_number.h"
#include "aos/stl_mutex/stl_mutex.h"
+#include "frc971/zeroing/absolute_and_absolute_encoder.h"
+#include "frc971/zeroing/absolute_encoder.h"
+#include "frc971/zeroing/pot_and_absolute_encoder.h"
#include "y2020/control_loops/superstructure/control_panel/integral_control_panel_plant.h"
#include "y2020/control_loops/superstructure/hood/integral_hood_plant.h"
#include "y2020/control_loops/superstructure/intake/integral_intake_plant.h"
diff --git a/y2020/constants.h b/y2020/constants.h
index 83b2cec..7332b4f 100644
--- a/y2020/constants.h
+++ b/y2020/constants.h
@@ -8,6 +8,9 @@
#include "frc971/constants.h"
#include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h"
#include "frc971/shooter_interpolation/interpolation.h"
+#include "frc971/zeroing/absolute_and_absolute_encoder.h"
+#include "frc971/zeroing/absolute_encoder.h"
+#include "frc971/zeroing/pot_and_absolute_encoder.h"
#include "y2020/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
#include "y2020/control_loops/superstructure/accelerator/accelerator_plant.h"
#include "y2020/control_loops/superstructure/control_panel/control_panel_plant.h"
diff --git a/y2020/control_loops/superstructure/BUILD b/y2020/control_loops/superstructure/BUILD
index d1f20a2..83af834 100644
--- a/y2020/control_loops/superstructure/BUILD
+++ b/y2020/control_loops/superstructure/BUILD
@@ -83,6 +83,9 @@
"//frc971/control_loops:control_loop",
"//frc971/control_loops:control_loops_fbs",
"//frc971/control_loops/drivetrain:drivetrain_status_fbs",
+ "//frc971/zeroing:absolute_and_absolute_encoder",
+ "//frc971/zeroing:absolute_encoder",
+ "//frc971/zeroing:pot_and_absolute_encoder",
"//y2020:constants",
"//y2020/control_loops/superstructure/hood:hood_encoder_zeroing_estimator",
"//y2020/control_loops/superstructure/shooter",
diff --git a/y2020/control_loops/superstructure/hood/BUILD b/y2020/control_loops/superstructure/hood/BUILD
index 437c67a..7983e62 100644
--- a/y2020/control_loops/superstructure/hood/BUILD
+++ b/y2020/control_loops/superstructure/hood/BUILD
@@ -44,6 +44,7 @@
target_compatible_with = ["@platforms//os:linux"],
deps = [
"//frc971/zeroing",
+ "//frc971/zeroing:absolute_and_absolute_encoder",
"//y2020:constants",
],
)
diff --git a/y2020/control_loops/superstructure/hood/hood_encoder_zeroing_estimator.cc b/y2020/control_loops/superstructure/hood/hood_encoder_zeroing_estimator.cc
index dee4461..249dd00 100644
--- a/y2020/control_loops/superstructure/hood/hood_encoder_zeroing_estimator.cc
+++ b/y2020/control_loops/superstructure/hood/hood_encoder_zeroing_estimator.cc
@@ -2,6 +2,8 @@
#include <cmath>
+#include "frc971/zeroing/absolute_and_absolute_encoder.h"
+
namespace y2020::control_loops::superstructure::hood {
HoodEncoderZeroingEstimator::HoodEncoderZeroingEstimator(
diff --git a/y2020/control_loops/superstructure/superstructure.h b/y2020/control_loops/superstructure/superstructure.h
index 5d371fc..8a00bf0 100644
--- a/y2020/control_loops/superstructure/superstructure.h
+++ b/y2020/control_loops/superstructure/superstructure.h
@@ -5,6 +5,9 @@
#include "frc971/control_loops/control_loop.h"
#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
#include "frc971/input/joystick_state_generated.h"
+#include "frc971/zeroing/absolute_and_absolute_encoder.h"
+#include "frc971/zeroing/absolute_encoder.h"
+#include "frc971/zeroing/pot_and_absolute_encoder.h"
#include "y2020/constants.h"
#include "y2020/control_loops/superstructure/hood/hood_encoder_zeroing_estimator.h"
#include "y2020/control_loops/superstructure/shooter/shooter.h"
diff --git a/y2022/BUILD b/y2022/BUILD
index f25925e..8d9d901 100644
--- a/y2022/BUILD
+++ b/y2022/BUILD
@@ -224,6 +224,7 @@
"//frc971/control_loops:static_zeroing_single_dof_profiled_subsystem",
"//frc971/shooter_interpolation:interpolation",
"//frc971/wpilib:wpilib_utils",
+ "//frc971/zeroing:pot_and_absolute_encoder",
"//y2022/control_loops/drivetrain:polydrivetrain_plants",
"//y2022/control_loops/superstructure/catapult:catapult_plants",
"//y2022/control_loops/superstructure/climber:climber_plants",
diff --git a/y2022/constants.cc b/y2022/constants.cc
index ff1c738..8ba3367 100644
--- a/y2022/constants.cc
+++ b/y2022/constants.cc
@@ -13,6 +13,7 @@
#include "aos/mutex/mutex.h"
#include "aos/network/team_number.h"
#include "frc971/wpilib/wpilib_utils.h"
+#include "frc971/zeroing/pot_and_absolute_encoder.h"
#include "y2022/control_loops/superstructure/catapult/integral_catapult_plant.h"
#include "y2022/control_loops/superstructure/climber/integral_climber_plant.h"
#include "y2022/control_loops/superstructure/intake/integral_intake_plant.h"
diff --git a/y2022/constants.h b/y2022/constants.h
index 62b9b4a..f27b6cd 100644
--- a/y2022/constants.h
+++ b/y2022/constants.h
@@ -9,6 +9,7 @@
#include "frc971/control_loops/pose.h"
#include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h"
#include "frc971/shooter_interpolation/interpolation.h"
+#include "frc971/zeroing/pot_and_absolute_encoder.h"
#include "y2022/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
#include "y2022/control_loops/superstructure/catapult/catapult_plant.h"
#include "y2022/control_loops/superstructure/climber/climber_plant.h"
diff --git a/y2022/control_loops/superstructure/BUILD b/y2022/control_loops/superstructure/BUILD
index e0db64c..e370f0e 100644
--- a/y2022/control_loops/superstructure/BUILD
+++ b/y2022/control_loops/superstructure/BUILD
@@ -86,6 +86,7 @@
"//aos/events:event_loop",
"//frc971/control_loops:control_loop",
"//frc971/control_loops/drivetrain:drivetrain_status_fbs",
+ "//frc971/zeroing:pot_and_absolute_encoder",
"//y2022:constants",
"//y2022/control_loops/superstructure/catapult",
"//y2022/control_loops/superstructure/turret:aiming",
diff --git a/y2022/control_loops/superstructure/catapult/BUILD b/y2022/control_loops/superstructure/catapult/BUILD
index a43925e..36e34bd 100644
--- a/y2022/control_loops/superstructure/catapult/BUILD
+++ b/y2022/control_loops/superstructure/catapult/BUILD
@@ -41,6 +41,7 @@
deps = [
":catapult_plants",
"//aos:realtime",
+ "//frc971/zeroing:pot_and_absolute_encoder",
"//third_party/osqp-cpp",
"//y2022:constants",
"//y2022/control_loops/superstructure:superstructure_goal_fbs",
diff --git a/y2022/control_loops/superstructure/catapult/catapult.h b/y2022/control_loops/superstructure/catapult/catapult.h
index a4c82de..d30e8f5 100644
--- a/y2022/control_loops/superstructure/catapult/catapult.h
+++ b/y2022/control_loops/superstructure/catapult/catapult.h
@@ -5,6 +5,7 @@
#include "glog/logging.h"
#include "frc971/control_loops/state_feedback_loop.h"
+#include "frc971/zeroing/pot_and_absolute_encoder.h"
#include "osqp++.h"
#include "y2022/constants.h"
#include "y2022/control_loops/superstructure/superstructure_goal_generated.h"
diff --git a/y2022/control_loops/superstructure/superstructure.h b/y2022/control_loops/superstructure/superstructure.h
index 5e3415c..36269e9 100644
--- a/y2022/control_loops/superstructure/superstructure.h
+++ b/y2022/control_loops/superstructure/superstructure.h
@@ -4,6 +4,7 @@
#include "aos/events/event_loop.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/collision_avoidance.h"
diff --git a/y2022_bot3/BUILD b/y2022_bot3/BUILD
index 29debe7..125ff44 100644
--- a/y2022_bot3/BUILD
+++ b/y2022_bot3/BUILD
@@ -116,6 +116,7 @@
"//frc971/control_loops:pose",
"//frc971/control_loops:static_zeroing_single_dof_profiled_subsystem",
"//frc971/shooter_interpolation:interpolation",
+ "//frc971/zeroing:pot_and_absolute_encoder",
"//y2022_bot3/control_loops/drivetrain:polydrivetrain_plants",
"//y2022_bot3/control_loops/superstructure/climber:climber_plants",
"//y2022_bot3/control_loops/superstructure/intake:intake_plants",
diff --git a/y2022_bot3/constants.cc b/y2022_bot3/constants.cc
index 7ec5187..82982aa 100644
--- a/y2022_bot3/constants.cc
+++ b/y2022_bot3/constants.cc
@@ -12,6 +12,7 @@
#include "aos/mutex/mutex.h"
#include "aos/network/team_number.h"
+#include "frc971/zeroing/pot_and_absolute_encoder.h"
#include "y2022_bot3/control_loops/superstructure/climber/integral_climber_plant.h"
#include "y2022_bot3/control_loops/superstructure/intake/integral_intake_plant.h"
diff --git a/y2022_bot3/constants.h b/y2022_bot3/constants.h
index 2ced38d..a87930f 100644
--- a/y2022_bot3/constants.h
+++ b/y2022_bot3/constants.h
@@ -9,6 +9,7 @@
#include "frc971/control_loops/pose.h"
#include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h"
#include "frc971/shooter_interpolation/interpolation.h"
+#include "frc971/zeroing/pot_and_absolute_encoder.h"
#include "y2022_bot3/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
#include "y2022_bot3/control_loops/superstructure/climber/climber_plant.h"
#include "y2022_bot3/control_loops/superstructure/intake/intake_plant.h"
diff --git a/y2022_bot3/control_loops/superstructure/BUILD b/y2022_bot3/control_loops/superstructure/BUILD
index 7d89a0a..5b44e2a 100644
--- a/y2022_bot3/control_loops/superstructure/BUILD
+++ b/y2022_bot3/control_loops/superstructure/BUILD
@@ -75,6 +75,7 @@
"//aos/events:event_loop",
"//frc971/control_loops:control_loop",
"//frc971/control_loops/drivetrain:drivetrain_status_fbs",
+ "//frc971/zeroing:pot_and_absolute_encoder",
"//y2022_bot3:constants",
],
)
diff --git a/y2022_bot3/control_loops/superstructure/superstructure.h b/y2022_bot3/control_loops/superstructure/superstructure.h
index 4f33c3c..13d5dec 100644
--- a/y2022_bot3/control_loops/superstructure/superstructure.h
+++ b/y2022_bot3/control_loops/superstructure/superstructure.h
@@ -4,6 +4,7 @@
#include "aos/events/event_loop.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_bot3/constants.h"
#include "y2022_bot3/control_loops/superstructure/superstructure_goal_generated.h"
#include "y2022_bot3/control_loops/superstructure/superstructure_output_generated.h"
diff --git a/y2023/BUILD b/y2023/BUILD
index e200f87..d934927 100644
--- a/y2023/BUILD
+++ b/y2023/BUILD
@@ -254,6 +254,8 @@
"//frc971/control_loops:pose",
"//frc971/control_loops:static_zeroing_single_dof_profiled_subsystem",
"//frc971/shooter_interpolation:interpolation",
+ "//frc971/zeroing:absolute_encoder",
+ "//frc971/zeroing:pot_and_absolute_encoder",
"//y2023/control_loops/drivetrain:polydrivetrain_plants",
"//y2023/control_loops/superstructure/arm:arm_constants",
"//y2023/control_loops/superstructure/roll:roll_plants",
diff --git a/y2023/constants.h b/y2023/constants.h
index 32ed317..84d6499 100644
--- a/y2023/constants.h
+++ b/y2023/constants.h
@@ -8,6 +8,8 @@
#include "frc971/constants.h"
#include "frc971/control_loops/pose.h"
#include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h"
+#include "frc971/zeroing/absolute_encoder.h"
+#include "frc971/zeroing/pot_and_absolute_encoder.h"
#include "y2023/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
#include "y2023/control_loops/superstructure/arm/arm_constants.h"
#include "y2023/control_loops/superstructure/roll/roll_plant.h"
diff --git a/y2023/control_loops/superstructure/BUILD b/y2023/control_loops/superstructure/BUILD
index 861bbf8..3d35dae 100644
--- a/y2023/control_loops/superstructure/BUILD
+++ b/y2023/control_loops/superstructure/BUILD
@@ -106,6 +106,8 @@
"//frc971/control_loops/drivetrain:drivetrain_can_position_fbs",
"//frc971/control_loops/drivetrain:drivetrain_status_fbs",
"//frc971/shooter_interpolation:interpolation",
+ "//frc971/zeroing:absolute_encoder",
+ "//frc971/zeroing:pot_and_absolute_encoder",
"//y2023:constants",
"//y2023/constants:constants_fbs",
"//y2023/constants:simulated_constants_sender",
diff --git a/y2023/control_loops/superstructure/arm/BUILD b/y2023/control_loops/superstructure/arm/BUILD
index a742c50..768a54e 100644
--- a/y2023/control_loops/superstructure/arm/BUILD
+++ b/y2023/control_loops/superstructure/arm/BUILD
@@ -16,6 +16,7 @@
"//frc971/control_loops/double_jointed_arm:graph",
"//frc971/control_loops/drivetrain:drivetrain_can_position_fbs",
"//frc971/zeroing",
+ "//frc971/zeroing:pot_and_absolute_encoder",
"//y2023:constants",
"//y2023/control_loops/superstructure:superstructure_position_fbs",
"//y2023/control_loops/superstructure:superstructure_status_fbs",
diff --git a/y2023/control_loops/superstructure/arm/arm.h b/y2023/control_loops/superstructure/arm/arm.h
index 1f97d80..6153400 100644
--- a/y2023/control_loops/superstructure/arm/arm.h
+++ b/y2023/control_loops/superstructure/arm/arm.h
@@ -5,6 +5,7 @@
#include "frc971/control_loops/double_jointed_arm/dynamics.h"
#include "frc971/control_loops/double_jointed_arm/ekf.h"
#include "frc971/control_loops/double_jointed_arm/graph.h"
+#include "frc971/zeroing/pot_and_absolute_encoder.h"
#include "frc971/zeroing/zeroing.h"
#include "y2023/constants.h"
#include "y2023/control_loops/superstructure/arm/generated_graph.h"
diff --git a/y2023/control_loops/superstructure/superstructure.h b/y2023/control_loops/superstructure/superstructure.h
index fdfef4e..bcee3ea 100644
--- a/y2023/control_loops/superstructure/superstructure.h
+++ b/y2023/control_loops/superstructure/superstructure.h
@@ -7,6 +7,8 @@
#include "frc971/control_loops/control_loop.h"
#include "frc971/control_loops/drivetrain/drivetrain_can_position_generated.h"
#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
+#include "frc971/zeroing/absolute_encoder.h"
+#include "frc971/zeroing/pot_and_absolute_encoder.h"
#include "y2023/constants.h"
#include "y2023/constants/constants_generated.h"
#include "y2023/control_loops/superstructure/arm/arm.h"
diff --git a/y2023/control_loops/superstructure/superstructure_lib_test.cc b/y2023/control_loops/superstructure/superstructure_lib_test.cc
index 26b88f3..926846e 100644
--- a/y2023/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2023/control_loops/superstructure/superstructure_lib_test.cc
@@ -9,6 +9,7 @@
#include "frc971/control_loops/position_sensor_sim.h"
#include "frc971/control_loops/subsystem_simulator.h"
#include "frc971/control_loops/team_number_test_environment.h"
+#include "frc971/zeroing/absolute_encoder.h"
#include "y2023/constants/simulated_constants_sender.h"
#include "y2023/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
#include "y2023/control_loops/superstructure/roll/integral_roll_plant.h"