commit 10ed5c3efaa820f8fc8a7a82906a942dedf394f7
author Maxwell Henderson <mxwhenderson@gmail.com> Tue Jan 09 12:40:54 2024 -0800
committer Maxwell Henderson <mxwhenderson@gmail.com> Sat Jan 13 17:24:05 2024 -0800
tree 1dc4546da191e6571a402e6fd21096009b462c6a
parent 2267d18271a1e84b2dc65139566083fae5f9986e

Rename our Falcons to TalonFX

This is done because both the Falcons and Krakens use a TalonFX motor
controller and our api to use them will be the same.

Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: I97249c5583e42f5ca346e754499748e555cd9f8b

frc971/wpilib/can_drivetrain_writer.cc

diff --git a/frc971/wpilib/can_drivetrain_writer.cc b/frc971/wpilib/can_drivetrain_writer.cc
index bdff308..ae82812 100644
--- a/frc971/wpilib/can_drivetrain_writer.cc
+++ b/frc971/wpilib/can_drivetrain_writer.cc
@@ -11,21 +11,21 @@
   event_loop->OnRun([this]() { WriteConfigs(); });
 }
 
-void CANDrivetrainWriter::set_falcons(
-    std::vector<std::shared_ptr<Falcon>> right_falcons,
-    std::vector<std::shared_ptr<Falcon>> left_falcons) {
-  right_falcons_ = std::move(right_falcons);
-  left_falcons_ = std::move(left_falcons);
+void CANDrivetrainWriter::set_talonfxs(
+    std::vector<std::shared_ptr<TalonFX>> right_talonfxs,
+    std::vector<std::shared_ptr<TalonFX>> left_talonfxs) {
+  right_talonfxs_ = std::move(right_talonfxs);
+  left_talonfxs_ = std::move(left_talonfxs);
 }
 
 void CANDrivetrainWriter::HandleCANConfiguration(
     const CANConfiguration &configuration) {
-  for (auto falcon : right_falcons_) {
-    falcon->PrintConfigs();
+  for (auto talonfx : right_talonfxs_) {
+    talonfx->PrintConfigs();
   }
 
-  for (auto falcon : left_falcons_) {
-    falcon->PrintConfigs();
+  for (auto talonfx : left_talonfxs_) {
+    talonfx->PrintConfigs();
   }
 
   if (configuration.reapply()) {
@@ -34,33 +34,33 @@
 }
 
 void CANDrivetrainWriter::WriteConfigs() {
-  for (auto falcon : right_falcons_) {
-    falcon->WriteConfigs();
+  for (auto talonfx : right_talonfxs_) {
+    talonfx->WriteConfigs();
   }
 
-  for (auto falcon : left_falcons_) {
-    falcon->WriteConfigs();
+  for (auto talonfx : left_talonfxs_) {
+    talonfx->WriteConfigs();
   }
 }
 
 void CANDrivetrainWriter::Write(
     const ::frc971::control_loops::drivetrain::Output &output) {
-  for (auto falcon : right_falcons_) {
-    falcon->WriteVoltage(output.right_voltage());
+  for (auto talonfx : right_talonfxs_) {
+    talonfx->WriteVoltage(output.right_voltage());
   }
 
-  for (auto falcon : left_falcons_) {
-    falcon->WriteVoltage(output.left_voltage());
+  for (auto talonfx : left_talonfxs_) {
+    talonfx->WriteVoltage(output.left_voltage());
   }
 }
 
 void CANDrivetrainWriter::Stop() {
   AOS_LOG(WARNING, "Drivetrain CAN output too old.\n");
-  for (auto falcon : right_falcons_) {
-    falcon->WriteVoltage(0);
+  for (auto talonfx : right_talonfxs_) {
+    talonfx->WriteVoltage(0);
   }
 
-  for (auto falcon : left_falcons_) {
-    falcon->WriteVoltage(0);
+  for (auto talonfx : left_talonfxs_) {
+    talonfx->WriteVoltage(0);
   }
 }