Add shooter class and python.
Change-Id: I27b4c8f282a0b80344a7df59cf3b04569d9c8110
diff --git a/y2020/control_loops/superstructure/shooter/shooter.h b/y2020/control_loops/superstructure/shooter/shooter.h
new file mode 100644
index 0000000..88bcb3b
--- /dev/null
+++ b/y2020/control_loops/superstructure/shooter/shooter.h
@@ -0,0 +1,37 @@
+#ifndef Y2020_CONTROL_LOOPS_SHOOTER_SHOOTER_H_
+#define Y2020_CONTROL_LOOPS_SHOOTER_SHOOTER_H_
+
+#include "aos/controls/control_loop.h"
+#include "frc971/control_loops/state_feedback_loop.h"
+#include "y2020/control_loops/superstructure/shooter/flywheel_controller.h"
+#include "y2020/control_loops/superstructure/superstructure_goal_generated.h"
+#include "y2020/control_loops/superstructure/superstructure_output_generated.h"
+#include "y2020/control_loops/superstructure/superstructure_position_generated.h"
+#include "y2020/control_loops/superstructure/superstructure_status_generated.h"
+
+namespace y2020 {
+namespace control_loops {
+namespace superstructure {
+namespace shooter {
+
+// Handles all flywheels together.
+class Shooter {
+ public:
+ Shooter();
+
+ flatbuffers::Offset<ShooterStatus> RunIteration(
+ const ShooterGoal *goal, const ShooterPosition *position,
+ flatbuffers::FlatBufferBuilder *fbb, OutputT *output);
+
+ private:
+ FlywheelController finisher_, accelerator_left_, accelerator_right_;
+
+ DISALLOW_COPY_AND_ASSIGN(Shooter);
+};
+
+} // namespace shooter
+} // namespace superstructure
+} // namespace control_loops
+} // namespace y2020
+
+#endif // Y2020_CONTROL_LOOPS_SHOOTER_SHOOTER_H_