Add intake rollers.
Change-Id: Ib6f78956950d61fb048e7370a609a3f2f9f3c876
diff --git a/y2016/wpilib/wpilib_interface.cc b/y2016/wpilib/wpilib_interface.cc
index f46611c..d43af31 100644
--- a/y2016/wpilib/wpilib_interface.cc
+++ b/y2016/wpilib/wpilib_interface.cc
@@ -551,6 +551,10 @@
wrist_talon_ = ::std::move(t);
}
+ void set_rollers_talon(::std::unique_ptr<Talon> t) {
+ rollers_talon_ = ::std::move(t);
+ }
+
private:
virtual void Read() override {
::y2016::control_loops::superstructure_queue.output.FetchAnother();
@@ -562,6 +566,7 @@
intake_talon_->Set(queue->voltage_intake / 12.0);
shoulder_talon_->Set(-queue->voltage_shoulder / 12.0);
wrist_talon_->Set(queue->voltage_wrist / 12.0);
+ rollers_talon_->Set(queue->voltage_rollers / 12.0);
}
virtual void Stop() override {
@@ -571,7 +576,8 @@
wrist_talon_->Disable();
}
- ::std::unique_ptr<Talon> intake_talon_, shoulder_talon_, wrist_talon_;
+ ::std::unique_ptr<Talon> intake_talon_, shoulder_talon_, wrist_talon_,
+ rollers_talon_;
};
class WPILibRobot : public ::frc971::wpilib::WPILibRobotBase {
@@ -640,6 +646,8 @@
::std::unique_ptr<Talon>(new Talon(0)));
superstructure_writer.set_wrist_talon(
::std::unique_ptr<Talon>(new Talon(0)));
+ superstructure_writer.set_rollers_talon(
+ ::std::unique_ptr<Talon>(new Talon(0)));
::std::thread superstructure_writer_thread(
::std::ref(superstructure_writer));