Add Turret to main superstructure loop and tests
Change-Id: Ie2d2936aee82126f7d3ad453c65ccc82e06cee78
diff --git a/y2020/control_loops/superstructure/superstructure.h b/y2020/control_loops/superstructure/superstructure.h
index 680b447..8fae9c5 100644
--- a/y2020/control_loops/superstructure/superstructure.h
+++ b/y2020/control_loops/superstructure/superstructure.h
@@ -19,6 +19,10 @@
explicit Superstructure(::aos::EventLoop *event_loop,
const ::std::string &name = "/superstructure");
+ using PotAndAbsoluteEncoderSubsystem =
+ ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystem<
+ ::frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator,
+ ::frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus>;
using AbsoluteEncoderSubsystem =
::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystem<
::frc971::zeroing::AbsoluteEncoderZeroingEstimator,
@@ -26,6 +30,7 @@
const AbsoluteEncoderSubsystem &hood() const { return hood_; }
const AbsoluteEncoderSubsystem &intake_joint() const { return intake_joint_; }
+ const PotAndAbsoluteEncoderSubsystem &turret() const { return turret_; }
protected:
virtual void RunIteration(const Goal *unsafe_goal, const Position *position,
@@ -35,6 +40,7 @@
private:
AbsoluteEncoderSubsystem hood_;
AbsoluteEncoderSubsystem intake_joint_;
+ PotAndAbsoluteEncoderSubsystem turret_;
DISALLOW_COPY_AND_ASSIGN(Superstructure);
};