commit 1039e43689b05f913930301ac59def7fdf5d9315
author Tyler Chatow <tchatow@gmail.com> Fri Feb 28 21:37:50 2020 -0800
committer Tyler Chatow <tchatow@gmail.com> Fri Feb 28 22:23:47 2020 -0800
tree c0445c4d8de1ed586b89f120fbe9844a7a759758
parent 6f826539d56bad50deaefb45986b5e202dd43404

Add climber to wpilib interface

Change-Id: Ifcc9520b2a01fb67fe54b94b7535e53d61b03e74

y2020/wpilib_interface.cc

diff --git a/y2020/wpilib_interface.cc b/y2020/wpilib_interface.cc
index 91182fc..8c30918 100644
--- a/y2020/wpilib_interface.cc
+++ b/y2020/wpilib_interface.cc
@@ -427,7 +427,7 @@
     if (climber_falcon_) {
       climber_falcon_->Set(
           ctre::phoenix::motorcontrol::ControlMode::PercentOutput,
-          std::clamp(output.climber_voltage(), -kMaxBringupPower,
+          std::clamp(-output.climber_voltage(), -kMaxBringupPower,
                      kMaxBringupPower) /
               12.0);
     }
@@ -550,8 +550,8 @@
         make_unique<::frc::TalonFX>(4));
     superstructure_writer.set_flywheel_falcon(make_unique<::frc::TalonFX>(9));
     // TODO: check port
-    //superstructure_writer.set_climber_falcon(
-        //make_unique<::ctre::phoenix::motorcontrol::can::TalonFX>(11));
+    superstructure_writer.set_climber_falcon(
+        make_unique<::ctre::phoenix::motorcontrol::can::TalonFX>(1));
 
     AddLoop(&output_event_loop);