Finish moving //y2014/... into its own namespace
Stuff didn't compile in the half-switched state it was in before.
Change-Id: I00ec3c79a2682982b12d4e8c8e682cb8625eb06d
diff --git a/y2014/control_loops/claw/claw.cc b/y2014/control_loops/claw/claw.cc
index 040cef3..4f71410 100644
--- a/y2014/control_loops/claw/claw.cc
+++ b/y2014/control_loops/claw/claw.cc
@@ -50,7 +50,7 @@
using ::frc971::HallEffectTracker;
using ::y2014::control_loops::claw::kDt;
using ::frc971::control_loops::DoCoerceGoal;
-using ::frc971::control_loops::ClawPositionToLog;
+using ::y2014::control_loops::ClawPositionToLog;
static const double kZeroingVoltage = 4.0;
static const double kMaxVoltage = 12.0;
@@ -220,7 +220,7 @@
last_encoder_(0.0) {}
void ZeroedStateFeedbackLoop::SetPositionValues(
- const ::frc971::control_loops::HalfClawPosition &claw) {
+ const ::y2014::control_loops::HalfClawPosition &claw) {
front_.Update(claw.front);
calibration_.Update(claw.calibration);
back_.Update(claw.back);
@@ -295,7 +295,7 @@
}
void ZeroedStateFeedbackLoop::Reset(
- const ::frc971::control_loops::HalfClawPosition &claw) {
+ const ::y2014::control_loops::HalfClawPosition &claw) {
set_zeroing_state(ZeroedStateFeedbackLoop::UNKNOWN_POSITION);
front_.Reset(claw.front);
@@ -371,8 +371,8 @@
return false;
}
-ClawMotor::ClawMotor(::frc971::control_loops::ClawQueue *my_claw)
- : aos::controls::ControlLoop<::frc971::control_loops::ClawQueue>(my_claw),
+ClawMotor::ClawMotor(::y2014::control_loops::ClawQueue *my_claw)
+ : aos::controls::ControlLoop<::y2014::control_loops::ClawQueue>(my_claw),
has_top_claw_goal_(false),
top_claw_goal_(0.0),
top_claw_(this),
@@ -617,10 +617,10 @@
// Positive angle is up, and positive power is up.
void ClawMotor::RunIteration(
- const ::frc971::control_loops::ClawQueue::Goal *goal,
- const ::frc971::control_loops::ClawQueue::Position *position,
- ::frc971::control_loops::ClawQueue::Output *output,
- ::frc971::control_loops::ClawQueue::Status *status) {
+ const ::y2014::control_loops::ClawQueue::Goal *goal,
+ const ::y2014::control_loops::ClawQueue::Position *position,
+ ::y2014::control_loops::ClawQueue::Output *output,
+ ::y2014::control_loops::ClawQueue::Status *status) {
// Disable the motors now so that all early returns will return with the
// motors disabled.
if (output) {
diff --git a/y2014/control_loops/claw/claw.h b/y2014/control_loops/claw/claw.h
index 86875bb..88f038f 100644
--- a/y2014/control_loops/claw/claw.h
+++ b/y2014/control_loops/claw/claw.h
@@ -77,9 +77,9 @@
}
JointZeroingState zeroing_state() const { return zeroing_state_; }
- void SetPositionValues(const ::frc971::control_loops::HalfClawPosition &claw);
+ void SetPositionValues(const ::y2014::control_loops::HalfClawPosition &claw);
- void Reset(const ::frc971::control_loops::HalfClawPosition &claw);
+ void Reset(const ::y2014::control_loops::HalfClawPosition &claw);
double absolute_position() const { return encoder() + offset(); }
@@ -183,10 +183,10 @@
};
class ClawMotor
- : public aos::controls::ControlLoop<::frc971::control_loops::ClawQueue> {
+ : public aos::controls::ControlLoop<::y2014::control_loops::ClawQueue> {
public:
- explicit ClawMotor(::frc971::control_loops::ClawQueue *my_claw =
- &::frc971::control_loops::claw_queue);
+ explicit ClawMotor(::y2014::control_loops::ClawQueue *my_claw =
+ &::y2014::control_loops::claw_queue);
// True if the state machine is ready.
bool capped_goal() const { return capped_goal_; }
@@ -217,10 +217,10 @@
protected:
virtual void RunIteration(
- const ::frc971::control_loops::ClawQueue::Goal *goal,
- const ::frc971::control_loops::ClawQueue::Position *position,
- ::frc971::control_loops::ClawQueue::Output *output,
- ::frc971::control_loops::ClawQueue::Status *status);
+ const ::y2014::control_loops::ClawQueue::Goal *goal,
+ const ::y2014::control_loops::ClawQueue::Position *position,
+ ::y2014::control_loops::ClawQueue::Output *output,
+ ::y2014::control_loops::ClawQueue::Status *status);
double top_absolute_position() const {
return claw_.X_hat(1, 0) + claw_.X_hat(0, 0);
diff --git a/y2014/control_loops/claw/claw.q b/y2014/control_loops/claw/claw.q
index a116970..1afdd85 100644
--- a/y2014/control_loops/claw/claw.q
+++ b/y2014/control_loops/claw/claw.q
@@ -1,4 +1,4 @@
-package frc971.control_loops;
+package y2014.control_loops;
import "aos/common/controls/control_loops.q";
import "frc971/control_loops/control_loops.q";
@@ -8,11 +8,11 @@
double position;
// The hall effect sensor at the front limit.
- HallEffectStruct front;
+ .frc971.HallEffectStruct front;
// The hall effect sensor in the middle to use for real calibration.
- HallEffectStruct calibration;
+ .frc971.HallEffectStruct calibration;
// The hall effect at the back limit.
- HallEffectStruct back;
+ .frc971.HallEffectStruct back;
};
// All angles here are 0 vertical, positive "up" (aka backwards).
diff --git a/y2014/control_loops/claw/claw_calibration.cc b/y2014/control_loops/claw/claw_calibration.cc
index 01d57a4..0dc3c06 100644
--- a/y2014/control_loops/claw/claw_calibration.cc
+++ b/y2014/control_loops/claw/claw_calibration.cc
@@ -24,7 +24,7 @@
}
bool DoGetPositionOfEdge(
- const ::frc971::control_loops::HalfClawPosition &claw_position,
+ const ::y2014::control_loops::HalfClawPosition &claw_position,
const HallEffectStruct &hall_effect, Claws::AnglePair *limits) {
bool print = false;
@@ -112,14 +112,14 @@
public:
ClawSensors(
const double start_position,
- const ::frc971::control_loops::HalfClawPosition &initial_claw_position)
+ const ::y2014::control_loops::HalfClawPosition &initial_claw_position)
: start_position_(start_position),
front_(start_position, initial_claw_position.front),
calibration_(start_position, initial_claw_position.calibration),
back_(start_position, initial_claw_position.back) {}
bool GetPositionOfEdge(
- const ::frc971::control_loops::HalfClawPosition &claw_position,
+ const ::y2014::control_loops::HalfClawPosition &claw_position,
Claws::Claw *claw) {
bool print = false;
if (front_.DoGetPositionOfEdge(claw_position,
@@ -155,17 +155,17 @@
};
int Main() {
- ::frc971::control_loops::claw_queue.position.FetchNextBlocking();
+ ::y2014::control_loops::claw_queue.position.FetchNextBlocking();
const double top_start_position =
- ::frc971::control_loops::claw_queue.position->top.position;
+ ::y2014::control_loops::claw_queue.position->top.position;
const double bottom_start_position =
- ::frc971::control_loops::claw_queue.position->bottom.position;
+ ::y2014::control_loops::claw_queue.position->bottom.position;
ClawSensors top(top_start_position,
- ::frc971::control_loops::claw_queue.position->top);
+ ::y2014::control_loops::claw_queue.position->top);
ClawSensors bottom(bottom_start_position,
- ::frc971::control_loops::claw_queue.position->bottom);
+ ::y2014::control_loops::claw_queue.position->bottom);
Claws limits;
@@ -219,28 +219,28 @@
limits.start_fine_tune_pos = -0.2;
limits.max_zeroing_voltage = 4.0;
- ::frc971::control_loops::ClawQueue::Position last_position =
- *::frc971::control_loops::claw_queue.position;
+ ::y2014::control_loops::ClawQueue::Position last_position =
+ *::y2014::control_loops::claw_queue.position;
while (true) {
- ::frc971::control_loops::claw_queue.position.FetchNextBlocking();
+ ::y2014::control_loops::claw_queue.position.FetchNextBlocking();
bool print = false;
- if (top.GetPositionOfEdge(::frc971::control_loops::claw_queue.position->top,
+ if (top.GetPositionOfEdge(::y2014::control_loops::claw_queue.position->top,
&limits.upper_claw)) {
print = true;
printf("Got an edge on the upper claw\n");
}
if (bottom.GetPositionOfEdge(
- ::frc971::control_loops::claw_queue.position->bottom,
+ ::y2014::control_loops::claw_queue.position->bottom,
&limits.lower_claw)) {
print = true;
printf("Got an edge on the lower claw\n");
}
const double top_position =
- ::frc971::control_loops::claw_queue.position->top.position -
+ ::y2014::control_loops::claw_queue.position->top.position -
top_start_position;
const double bottom_position =
- ::frc971::control_loops::claw_queue.position->bottom.position -
+ ::y2014::control_loops::claw_queue.position->bottom.position -
bottom_start_position;
const double separation = top_position - bottom_position;
if (separation > limits.claw_max_separation) {
@@ -302,7 +302,7 @@
printf("}\n");
}
- last_position = *::frc971::control_loops::claw_queue.position;
+ last_position = *::y2014::control_loops::claw_queue.position;
}
return 0;
}
diff --git a/y2014/control_loops/claw/claw_lib_test.cc b/y2014/control_loops/claw/claw_lib_test.cc
index 85cb679..afce10e 100644
--- a/y2014/control_loops/claw/claw_lib_test.cc
+++ b/y2014/control_loops/claw/claw_lib_test.cc
@@ -19,7 +19,7 @@
using ::y2014::control_loops::claw::MakeClawPlant;
using ::frc971::HallEffectStruct;
-using ::frc971::control_loops::HalfClawPosition;
+using ::y2014::control_loops::HalfClawPosition;
typedef enum {
TOP_CLAW = 0,
@@ -111,7 +111,7 @@
// Sets the values of the physical sensors that can be directly observed
// (encoder, hall effect).
void SetPhysicalSensors(
- ::frc971::control_loops::ClawQueue::Position *position) {
+ ::y2014::control_loops::ClawQueue::Position *position) {
position->top.position = GetPosition(TOP_CLAW);
position->bottom.position = GetPosition(BOTTOM_CLAW);
@@ -186,7 +186,7 @@
// Sends out the position queue messages.
void SendPositionMessage() {
- ::aos::ScopedMessagePtr<::frc971::control_loops::ClawQueue::Position>
+ ::aos::ScopedMessagePtr<::y2014::control_loops::ClawQueue::Position>
position = claw_queue.position.MakeMessage();
// Initialize all the counters to their previous values.
@@ -239,10 +239,10 @@
initial_position_[type] = initial_position;
}
- ::frc971::control_loops::ClawQueue claw_queue;
+ ::y2014::control_loops::ClawQueue claw_queue;
double initial_position_[CLAW_COUNT];
- ::frc971::control_loops::ClawQueue::Position last_position_;
+ ::y2014::control_loops::ClawQueue::Position last_position_;
};
@@ -251,7 +251,7 @@
// Create a new instance of the test queue so that it invalidates the queue
// that it points to. Otherwise, we will have a pointer to shared memory that
// is no longer valid.
- ::frc971::control_loops::ClawQueue claw_queue;
+ ::y2014::control_loops::ClawQueue claw_queue;
// Create a loop and simulation plant.
ClawMotor claw_motor_;
diff --git a/y2014/control_loops/claw/replay_claw.cc b/y2014/control_loops/claw/replay_claw.cc
index 70d881c..15cc9d9 100644
--- a/y2014/control_loops/claw/replay_claw.cc
+++ b/y2014/control_loops/claw/replay_claw.cc
@@ -14,8 +14,8 @@
::aos::InitNRT();
- ::aos::controls::ControlLoopReplayer<::frc971::control_loops::ClawQueue>
- replayer(&::frc971::control_loops::claw_queue, "claw");
+ ::aos::controls::ControlLoopReplayer<::y2014::control_loops::ClawQueue>
+ replayer(&::y2014::control_loops::claw_queue, "claw");
for (int i = 1; i < argc; ++i) {
replayer.ProcessFile(argv[i]);
}