Renamed ZeroingEstimator to PotAndIndexPulseZeroingEstimator
Renamed to allow for creating a new interface named ZeroingEstimator
in the future.
Change-Id: I374808cdc39dd4141ea67c81de69bbac98326648
diff --git a/y2016_bot3/control_loops/intake/intake.cc b/y2016_bot3/control_loops/intake/intake.cc
index b50ccca..6fee1d2 100644
--- a/y2016_bot3/control_loops/intake/intake.cc
+++ b/y2016_bot3/control_loops/intake/intake.cc
@@ -11,7 +11,8 @@
namespace y2016_bot3 {
namespace constants {
constexpr double IntakeZero::pot_offset;
-constexpr ::frc971::constants::ZeroingConstants IntakeZero::zeroing;
+constexpr ::frc971::constants::PotAndIndexPulseZeroingConstants
+ IntakeZero::zeroing;
} // namespace constants
namespace control_loops {
diff --git a/y2016_bot3/control_loops/intake/intake.h b/y2016_bot3/control_loops/intake/intake.h
index fdde74b..c654591 100644
--- a/y2016_bot3/control_loops/intake/intake.h
+++ b/y2016_bot3/control_loops/intake/intake.h
@@ -39,9 +39,9 @@
struct IntakeZero {
static constexpr double pot_offset = 5.462409 + 0.333162;
- static constexpr ::frc971::constants::ZeroingConstants zeroing{
- kZeroingSampleSize, kIntakeEncoderIndexDifference, 0.148604 - 0.291240,
- 0.3};
+ static constexpr ::frc971::constants::PotAndIndexPulseZeroingConstants
+ zeroing{kZeroingSampleSize, kIntakeEncoderIndexDifference,
+ 0.148604 - 0.291240, 0.3};
};
} // namespace constants
namespace control_loops {
diff --git a/y2016_bot3/control_loops/intake/intake_controls.h b/y2016_bot3/control_loops/intake/intake_controls.h
index 0b2daa0..320d803 100644
--- a/y2016_bot3/control_loops/intake/intake_controls.h
+++ b/y2016_bot3/control_loops/intake/intake_controls.h
@@ -90,7 +90,7 @@
::std::unique_ptr<
::frc971::control_loops::SimpleCappedStateFeedbackLoop<3, 1, 1>> loop_;
- ::frc971::zeroing::ZeroingEstimator estimator_;
+ ::frc971::zeroing::PotAndIndexPulseZeroingEstimator estimator_;
aos::util::TrapezoidProfile profile_;
// Current measurement.