s/change_/mutable_/g
diff --git a/frc971/control_loops/shooter/shooter.cc b/frc971/control_loops/shooter/shooter.cc
index c4d183a..2d8df35 100755
--- a/frc971/control_loops/shooter/shooter.cc
+++ b/frc971/control_loops/shooter/shooter.cc
@@ -35,7 +35,7 @@
voltage_ = std::min(max_voltage_, voltage_);
voltage_ = std::max(-max_voltage_, voltage_);
- change_U(0) = voltage_ - old_voltage;
+ mutable_U(0) = voltage_ - old_voltage;
LOG_STRUCT(DEBUG, "output", ShooterVoltageToLog(X_hat(2), voltage_));
@@ -49,11 +49,11 @@
if (controller_index() == 0) {
dx = (uncapped_voltage() - max_voltage_) /
(K(0, 0) - A(1, 0) * K(0, 2) / A(1, 2));
- change_R(0) -= dx;
- change_R(2) -= -A(1, 0) / A(1, 2) * dx;
+ mutable_R(0) -= dx;
+ mutable_R(2) -= -A(1, 0) / A(1, 2) * dx;
} else {
dx = (uncapped_voltage() - max_voltage_) / K(0, 0);
- change_R(0) -= dx;
+ mutable_R(0) -= dx;
}
capped_goal_ = true;
LOG_STRUCT(DEBUG, "to prevent windup", ShooterMovingGoal(dx));
@@ -62,11 +62,11 @@
if (controller_index() == 0) {
dx = (uncapped_voltage() + max_voltage_) /
(K(0, 0) - A(1, 0) * K(0, 2) / A(1, 2));
- change_R(0) -= dx;
- change_R(2) -= -A(1, 0) / A(1, 2) * dx;
+ mutable_R(0) -= dx;
+ mutable_R(2) -= -A(1, 0) / A(1, 2) * dx;
} else {
dx = (uncapped_voltage() + max_voltage_) / K(0, 0);
- change_R(0) -= dx;
+ mutable_R(0) -= dx;
}
capped_goal_ = true;
LOG_STRUCT(DEBUG, "to prevent windup", ShooterMovingGoal(dx));
@@ -77,9 +77,9 @@
void ZeroedStateFeedbackLoop::RecalculatePowerGoal() {
if (controller_index() == 0) {
- change_R(2) = (-A(1, 0) / A(1, 2) * R(0) - A(1, 1) / A(1, 2) * R(1));
+ mutable_R(2) = (-A(1, 0) / A(1, 2) * R(0) - A(1, 1) / A(1, 2) * R(1));
} else {
- change_R(2) = -A(1, 1) / A(1, 2) * R(1);
+ mutable_R(2) = -A(1, 1) / A(1, 2) * R(1);
}
}
@@ -89,15 +89,15 @@
double previous_offset = offset_;
offset_ = known_position - encoder_val;
double doffset = offset_ - previous_offset;
- change_X_hat(0) += doffset;
+ mutable_X_hat(0) += doffset;
// Offset our measurements because the offset is baked into them.
// This is safe because if we got here, it means position != nullptr, which
// means we already set Y to something and it won't just get overwritten.
- change_Y(0) += doffset;
+ mutable_Y(0) += doffset;
// Offset the goal so we don't move.
- change_R(0) += doffset;
+ mutable_R(0) += doffset;
if (controller_index() == 0) {
- change_R(2) += -A(1, 0) / A(1, 2) * (doffset);
+ mutable_R(2) += -A(1, 0) / A(1, 2) * (doffset);
}
LOG_STRUCT(
DEBUG, "sensor edge (fake?)",
diff --git a/frc971/control_loops/shooter/shooter.h b/frc971/control_loops/shooter/shooter.h
index 7816c8e..71c1fa4 100755
--- a/frc971/control_loops/shooter/shooter.h
+++ b/frc971/control_loops/shooter/shooter.h
@@ -74,14 +74,14 @@
double goal_position() const { return R(0) + kPositionOffset; }
double goal_velocity() const { return R(1); }
void InitializeState(double position) {
- change_X_hat(0) = position - kPositionOffset;
+ mutable_X_hat(0) = position - kPositionOffset;
}
void SetGoalPosition(double desired_position, double desired_velocity) {
LOG(DEBUG, "Goal position: %f Goal velocity: %f\n", desired_position,
desired_velocity);
- change_R() << desired_position - kPositionOffset, desired_velocity,
+ mutable_R() << desired_position - kPositionOffset, desired_velocity,
(-A(1, 0) / A(1, 2) * (desired_position - kPositionOffset) -
A(1, 1) / A(1, 2) * desired_velocity);
}
diff --git a/frc971/control_loops/shooter/shooter_lib_test.cc b/frc971/control_loops/shooter/shooter_lib_test.cc
index f1beafe..49263c7 100755
--- a/frc971/control_loops/shooter/shooter_lib_test.cc
+++ b/frc971/control_loops/shooter/shooter_lib_test.cc
@@ -55,9 +55,9 @@
LOG(INFO, "Reinitializing to {pos: %f}\n", initial_position);
StateFeedbackPlant<2, 1, 1> *plant = shooter_plant_.get();
initial_position_ = initial_position;
- plant->change_X(0) = initial_position_ - kPositionOffset;
- plant->change_X(1) = 0.0;
- plant->change_Y() = plant->C() * plant->X();
+ plant->mutable_X(0) = initial_position_ - kPositionOffset;
+ plant->mutable_X(1) = 0.0;
+ plant->mutable_Y() = plant->C() * plant->X();
last_voltage_ = 0.0;
last_plant_position_ = 0.0;
SetPhysicalSensors(&last_position_message_);
@@ -213,12 +213,12 @@
}
if (brake_piston_state_) {
- shooter_plant_->change_U() << 0.0;
- shooter_plant_->change_X(1) = 0.0;
- shooter_plant_->change_Y() = shooter_plant_->C() * shooter_plant_->X() +
+ shooter_plant_->mutable_U() << 0.0;
+ shooter_plant_->mutable_X(1) = 0.0;
+ shooter_plant_->mutable_Y() = shooter_plant_->C() * shooter_plant_->X() +
shooter_plant_->D() * shooter_plant_->U();
} else {
- shooter_plant_->change_U() << last_voltage_;
+ shooter_plant_->mutable_U() << last_voltage_;
//shooter_plant_->U << shooter_queue_group_.output->voltage;
shooter_plant_->Update();
}
@@ -246,7 +246,7 @@
plunger_latched_ = false;
// TODO(austin): The brake should be set for a number of cycles after
// this as well.
- shooter_plant_->change_X(0) += 0.005;
+ shooter_plant_->mutable_X(0) += 0.005;
}
latch_delay_count_++;
}
@@ -534,7 +534,7 @@
LOG(DEBUG, "State is UnloadMove\n");
--kicked_delay;
if (kicked_delay == 0) {
- shooter_motor_.shooter_.change_R(0) -= 100;
+ shooter_motor_.shooter_.mutable_R(0) -= 100;
}
}
if (shooter_motor_.capped_goal() && kicked_delay < 0) {
@@ -574,7 +574,7 @@
LOG(DEBUG, "State is UnloadMove\n");
--kicked_delay;
if (kicked_delay == 0) {
- shooter_motor_.shooter_.change_R(0) += 0.1;
+ shooter_motor_.shooter_.mutable_R(0) += 0.1;
}
}
if (shooter_motor_.capped_goal() && kicked_delay < 0) {