Upgraded //y2015_bot3 to use the common drive code.
This is a fixup from changing the call signature of DoCoerceGoal
Change-Id: I3b96da7107a524ca0e6cd66c9de3ae3443124253
diff --git a/y2015_bot3/wpilib/BUILD b/y2015_bot3/wpilib/BUILD
index d1848e5..dbf03b7 100644
--- a/y2015_bot3/wpilib/BUILD
+++ b/y2015_bot3/wpilib/BUILD
@@ -6,30 +6,31 @@
'wpilib_interface.cc',
],
deps = [
- '//aos/linux_code:init',
- '//aos/common:stl_mutex',
- '//aos/common/logging',
- '//third_party:wpilib',
- '//y2015_bot3/control_loops/drivetrain:drivetrain_queue',
'//aos/common/controls:control_loop',
- '//aos/common/util:log_interval',
- '//aos/common:time',
+ '//aos/common/logging',
'//aos/common/logging:queue_logging',
'//aos/common/messages:robot_state',
+ '//aos/common/util:log_interval',
'//aos/common/util:phased_loop',
'//aos/common/util:wrapping_counter',
- '//frc971/wpilib:joystick_sender',
- '//frc971/wpilib:loop_output_handler',
- '//frc971/wpilib:buffered_pcm',
- '//frc971/wpilib:gyro_sender',
- '//frc971/wpilib:wpilib_robot_base',
- '//frc971/wpilib:wpilib_interface',
+ '//aos/common:stl_mutex',
+ '//aos/common:time',
+ '//aos/linux_code:init',
+ '//frc971/control_loops/drivetrain:drivetrain_lib',
+ '//frc971/control_loops/drivetrain:drivetrain_queue',
'//frc971/control_loops:queues',
- '//frc971/wpilib:logging_queue',
- '//frc971/wpilib:pdp_fetcher',
+ '//frc971/wpilib:buffered_pcm',
'//frc971/wpilib:dma',
+ '//frc971/wpilib:gyro_sender',
+ '//frc971/wpilib:joystick_sender',
+ '//frc971/wpilib:logging_queue',
+ '//frc971/wpilib:loop_output_handler',
+ '//frc971/wpilib:pdp_fetcher',
+ '//frc971/wpilib:wpilib_interface',
+ '//frc971/wpilib:wpilib_robot_base',
+ '//third_party:wpilib',
'//y2015_bot3/autonomous:auto_queue',
- '//y2015_bot3/control_loops/drivetrain:drivetrain_lib',
+ '//y2015_bot3/control_loops/drivetrain:drivetrain_base',
'//y2015_bot3/control_loops/elevator:elevator_lib',
'//y2015_bot3/control_loops/intake:intake_lib',
],
diff --git a/y2015_bot3/wpilib/wpilib_interface.cc b/y2015_bot3/wpilib/wpilib_interface.cc
index bbfa91e..edd2428 100644
--- a/y2015_bot3/wpilib/wpilib_interface.cc
+++ b/y2015_bot3/wpilib/wpilib_interface.cc
@@ -32,31 +32,30 @@
#include "aos/common/messages/robot_state.q.h"
#include "frc971/control_loops/control_loops.q.h"
-
-#include "y2015_bot3/control_loops/drivetrain/drivetrain.q.h"
-#include "y2015_bot3/control_loops/elevator/elevator.q.h"
-#include "y2015_bot3/control_loops/intake/intake.q.h"
-#include "y2015_bot3/autonomous/auto.q.h"
-#include "y2015_bot3/control_loops/drivetrain/drivetrain.h"
-#include "y2015_bot3/control_loops/elevator/elevator.h"
-#include "y2015_bot3/control_loops/intake/intake.h"
-
-#include "frc971/wpilib/joystick_sender.h"
-#include "frc971/wpilib/loop_output_handler.h"
-#include "frc971/wpilib/buffered_solenoid.h"
+#include "frc971/control_loops/drivetrain/drivetrain.h"
+#include "frc971/control_loops/drivetrain/drivetrain.q.h"
#include "frc971/wpilib/buffered_pcm.h"
-#include "frc971/wpilib/gyro_sender.h"
-#include "frc971/wpilib/logging.q.h"
-#include "frc971/wpilib/wpilib_interface.h"
-#include "frc971/wpilib/pdp_fetcher.h"
+#include "frc971/wpilib/buffered_solenoid.h"
#include "frc971/wpilib/dma.h"
+#include "frc971/wpilib/gyro_sender.h"
+#include "frc971/wpilib/joystick_sender.h"
+#include "frc971/wpilib/logging.q.h"
+#include "frc971/wpilib/loop_output_handler.h"
+#include "frc971/wpilib/pdp_fetcher.h"
+#include "frc971/wpilib/wpilib_interface.h"
+#include "y2015_bot3/autonomous/auto.q.h"
+#include "y2015_bot3/control_loops/drivetrain/drivetrain_base.h"
+#include "y2015_bot3/control_loops/elevator/elevator.h"
+#include "y2015_bot3/control_loops/elevator/elevator.q.h"
+#include "y2015_bot3/control_loops/intake/intake.h"
+#include "y2015_bot3/control_loops/intake/intake.q.h"
#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif
using ::aos::util::SimpleLogInterval;
-using ::y2015_bot3::control_loops::drivetrain_queue;
+using ::frc971::control_loops::drivetrain_queue;
using ::y2015_bot3::control_loops::elevator_queue;
using ::y2015_bot3::control_loops::intake_queue;
using ::frc971::wpilib::BufferedPcm;
@@ -70,13 +69,13 @@
double drivetrain_translate(int32_t in) {
return static_cast<double>(in) / (256.0 /*cpr*/ * 4.0 /*4x*/) *
- ::y2015_bot3::control_loops::kDrivetrainEncoderRatio *
+ ::y2015_bot3::control_loops::drivetrain::kDrivetrainEncoderRatio *
(4 /*wheel diameter*/ * 2.54 / 100.0 * M_PI);
}
double drivetrain_velocity_translate(double in) {
return (1.0 / in) / 256.0 /*cpr*/ *
- ::y2015_bot3::control_loops::kDrivetrainEncoderRatio *
+ ::y2015_bot3::control_loops::drivetrain::kDrivetrainEncoderRatio *
(4 /*wheel diameter*/ * 2.54 / 100.0 * M_PI);
}
@@ -337,11 +336,11 @@
private:
virtual void Read() override {
- ::y2015_bot3::control_loops::drivetrain_queue.output.FetchAnother();
+ drivetrain_queue.output.FetchAnother();
}
virtual void Write() override {
- auto &queue = ::y2015_bot3::control_loops::drivetrain_queue.output;
+ auto &queue = drivetrain_queue.output;
LOG_STRUCT(DEBUG, "will output", *queue);
left_drivetrain_talon_->Set(queue->left_voltage / 12.0);
right_drivetrain_talon_->Set(-queue->right_voltage / 12.0);