Pre-serialize balls while intaking
Change-Id: I90d1b515748bad727d8e8b2d659b8e59ca545e80
Signed-off-by: Ravago Jones <ravagojones@gmail.com>
diff --git a/y2020/wpilib_interface.cc b/y2020/wpilib_interface.cc
index fb46d71..4a7343f 100644
--- a/y2020/wpilib_interface.cc
+++ b/y2020/wpilib_interface.cc
@@ -211,6 +211,10 @@
ball_beambreak_reader_.set_input_two(ball_beambreak_inputs_[1].get());
}
+ void set_ball_intake_beambreak(::std::unique_ptr<frc::DigitalInput> sensor) {
+ ball_intake_beambreak_ = ::std::move(sensor);
+ }
+
void Start() override {
if (FLAGS_shooter_tuning) {
AddToDMA(&ball_beambreak_reader_);
@@ -294,6 +298,8 @@
position_builder.add_intake_joint(intake_joint_offset);
position_builder.add_turret(turret_offset);
position_builder.add_shooter(shooter_offset);
+ position_builder.add_intake_beambreak_triggered(
+ !ball_intake_beambreak_->Get());
builder.Send(position_builder.Finish());
}
@@ -354,6 +360,8 @@
frc971::wpilib::ADIS16470 *imu_ = nullptr;
+ std::unique_ptr<frc::DigitalInput> ball_intake_beambreak_;
+
// Used to interface with the two beam break sensors that the ball for tuning
// shooter parameters has to pass through.
// We will time how long it takes to pass between the two sensors to get its
@@ -582,6 +590,8 @@
sensor_reader.set_left_accelerator_encoder(make_encoder(4));
sensor_reader.set_right_accelerator_encoder(make_encoder(3));
+ sensor_reader.set_ball_intake_beambreak(make_unique<frc::DigitalInput>(4));
+
if (FLAGS_shooter_tuning) {
sensor_reader.set_ball_beambreak_inputs(
make_unique<frc::DigitalInput>(6), make_unique<frc::DigitalInput>(7));