From c842a216ea5baad32ba0748ef60f9eed8212519b Mon Sep 17 00:00:00 2001
From: suhas <hi@suhas.one>
Date: Sat, 9 Nov 2024 00:03:54 +0000
Subject: [PATCH] fix errors

---
 .../agitator/agitator_subsystem.cpp           |  8 +-
 .../odometry/odometry_subsystem.cpp           |  2 +-
 .../odometry/odometry_subsystem.hpp           | 78 +++++++++----------
 3 files changed, 43 insertions(+), 45 deletions(-)

diff --git a/ut-robomaster/src/subsystems/agitator/agitator_subsystem.cpp b/ut-robomaster/src/subsystems/agitator/agitator_subsystem.cpp
index 23c52ad1..2567ddf6 100644
--- a/ut-robomaster/src/subsystems/agitator/agitator_subsystem.cpp
+++ b/ut-robomaster/src/subsystems/agitator/agitator_subsystem.cpp
@@ -50,9 +50,9 @@ void AgitatorSubsystem::refresh()
     return;
 #endif
 
-    setAmputated(!hardwareOk())
+    setAmputated(!hardwareOk());
 
-        float time = getTimeMilliseconds() / 1000.0f;
+    float time = getTimeMilliseconds() / 1000.0f;
     float velocity = getShapedVelocity(time, 1.0f, 0.0f, ballsPerSecond);
     bool killSwitch = drivers->isKillSwitched() || !flywheel->isActive() || isAmputated();
 
@@ -78,9 +78,9 @@ float AgitatorSubsystem::getVelocity() { return agitator.measureVelocity(); }
 bool AgitatorSubsystem::hardwareOk()
 {
 #ifdef TARGET_HERO
-    return flywheel.hardwareOk() && agitator.isOnline() && feeder.isOnline()
+    return flywheel->hardwareOk() && agitator.isOnline() && feeder.isOnline();
 #else
-    return flywheel.hardwareOk() && agitator.isOnline()
+    return flywheel->hardwareOk() && agitator.isOnline();
 #endif
 }
 
diff --git a/ut-robomaster/src/subsystems/odometry/odometry_subsystem.cpp b/ut-robomaster/src/subsystems/odometry/odometry_subsystem.cpp
index ec456b66..a628ec7c 100644
--- a/ut-robomaster/src/subsystems/odometry/odometry_subsystem.cpp
+++ b/ut-robomaster/src/subsystems/odometry/odometry_subsystem.cpp
@@ -28,7 +28,7 @@ void OdometrySubsystem::refresh()
     }
 }
 
-bool OdometrySubsystem::hardwareOk() { return chassis.hardwareOk() && turret.hardwareOk(); }
+bool OdometrySubsystem::hardwareOk() { return chassis->hardwareOk() && turret->hardwareOk(); }
 
 Vector2f OdometrySubsystem::getPosition()
 {
diff --git a/ut-robomaster/src/subsystems/odometry/odometry_subsystem.hpp b/ut-robomaster/src/subsystems/odometry/odometry_subsystem.hpp
index 7a156a6b..f7f1dd29 100644
--- a/ut-robomaster/src/subsystems/odometry/odometry_subsystem.hpp
+++ b/ut-robomaster/src/subsystems/odometry/odometry_subsystem.hpp
@@ -15,44 +15,42 @@
 #include "utils/robot_comms.hpp"
 
 #include "drivers.hpp"
+namespace subsystems
 {
-    namespace odometry
-    {
-
-    using chassis::ChassisSubsystem;
-    using tap::algorithms::odometry::Odometry2DTracker;
-    using turret::TurretSubsystem;
-
-    class OdometrySubsystem : public UTSubsystem
-    {
-    public:
-        OdometrySubsystem(
-            src::Drivers* drivers,
-            ChassisSubsystem* chassis,
-            TurretSubsystem* turret);
-        void initialize() override;
-        void refresh() override;
-        const char* getName() override { return "Odometry subsystem"; }
-
-        Vector2f getPosition();
-        Vector2f getLinearVelocity();
-
-        float getChassisYaw();
-        float getChassisAngularVelocity();
-
-        float getTurretLocalYaw();
-        float getTurretLocalPitch();
-        bool hardwareOk() override;
-
-    private:
-        src::Drivers* drivers;
-        ChassisSubsystem* chassis;
-        TurretSubsystem* turret;
-
-        ChassisDisplacementObserver chassisDisplacement;
-        ChassisWorldYawObserver chassisYaw;
-        Odometry2DTracker chassisTracker;
-    };
-    }  // namespace odometry
-}  // namespace subsyste
-}  // namespace subsystemsms
\ No newline at end of file
+namespace odometry
+{
+
+using chassis::ChassisSubsystem;
+using tap::algorithms::odometry::Odometry2DTracker;
+using turret::TurretSubsystem;
+
+class OdometrySubsystem : public UTSubsystem
+{
+public:
+    OdometrySubsystem(src::Drivers* drivers, ChassisSubsystem* chassis, TurretSubsystem* turret);
+    void initialize() override;
+    void refresh() override;
+    const char* getName() override { return "Odometry subsystem"; }
+
+    Vector2f getPosition();
+    Vector2f getLinearVelocity();
+
+    float getChassisYaw();
+    float getChassisAngularVelocity();
+
+    float getTurretLocalYaw();
+    float getTurretLocalPitch();
+    bool hardwareOk() override;
+
+private:
+    src::Drivers* drivers;
+    ChassisSubsystem* chassis;
+    TurretSubsystem* turret;
+
+    ChassisDisplacementObserver chassisDisplacement;
+    ChassisWorldYawObserver chassisYaw;
+    Odometry2DTracker chassisTracker;
+};
+}  // namespace odometry
+}  // namespace subsystems
+   // namespace subsystemsms
\ No newline at end of file