| Ben Fredrickson | 6b5ba79 | 2015-01-25 17:14:40 -0800 | [diff] [blame] | 1 | #include "frc971/control_loops/fridge/fridge.h" |
| 2 | |
| 3 | #include "aos/common/controls/control_loops.q.h" |
| 4 | #include "aos/common/logging/logging.h" |
| 5 | |
| 6 | #include "frc971/control_loops/fridge/elevator_motor_plant.h" |
| 7 | #include "frc971/control_loops/fridge/arm_motor_plant.h" |
| 8 | |
| 9 | namespace frc971 { |
| 10 | namespace control_loops { |
| 11 | |
| 12 | Fridge::Fridge(control_loops::FridgeQueue *fridge) |
| 13 | : aos::controls::ControlLoop<control_loops::FridgeQueue>(fridge), |
| 14 | left_arm_loop_(new StateFeedbackLoop<2, 1, 1>(MakeArmLoop())), |
| 15 | right_arm_loop_(new StateFeedbackLoop<2, 1, 1>(MakeArmLoop())), |
| 16 | left_elev_loop_(new StateFeedbackLoop<2, 1, 1>(MakeArmLoop())), |
| 17 | right_elev_loop_(new StateFeedbackLoop<2, 1, 1>(MakeArmLoop())) {} |
| 18 | |
| 19 | void Fridge::RunIteration( |
| 20 | const control_loops::FridgeQueue::Goal * /*goal*/, |
| 21 | const control_loops::FridgeQueue::Position * /*position*/, |
| 22 | control_loops::FridgeQueue::Output * /*output*/, |
| 23 | control_loops::FridgeQueue::Status * /*status*/) { |
| 24 | |
| 25 | LOG(DEBUG, "Hi Brian!"); |
| 26 | } |
| 27 | |
| 28 | } // namespace control_loops |
| 29 | } // namespace frc971 |