commit 17a2a496a8a4474b538cf06fce23a34b859a2418
author Austin Schuh <austin@peloton-tech.com> Fri Feb 20 22:12:24 2015 -0800
committer Austin Schuh <austin@peloton-tech.com> Fri Feb 20 22:56:12 2015 -0800
tree 562576e763462ad146bcee26dab07c8440d5e3e2
parent fae69172c9e672d9272fe0d0d393d76ffe60629b

Made pneumatics work.

Change-Id: I36585f79bcc1a70e2ff59e9001c9a2111c240be3

frc971/wpilib/wpilib_interface.cc

diff --git a/frc971/wpilib/wpilib_interface.cc b/frc971/wpilib/wpilib_interface.cc
index 5315b08..6a7d860 100644
--- a/frc971/wpilib/wpilib_interface.cc
+++ b/frc971/wpilib/wpilib_interface.cc
@@ -38,6 +38,7 @@
 #include "DriverStation.h"
 #include "AnalogInput.h"
 #include "Compressor.h"
+#include "Relay.h"
 #include "RobotBase.h"
 #include "dma.h"
 #include "ControllerPower.h"
@@ -363,8 +364,16 @@
  public:
   SolenoidWriter(const ::std::unique_ptr<BufferedPcm> &pcm)
       : pcm_(pcm),
-      fridge_(".frc971.control_loops.fridge.output"),
-      claw_(".frc971.control_loops.claw.output") {}
+        fridge_(".frc971.control_loops.fridge_queue.output"),
+        claw_(".frc971.control_loops.claw_queue.output") {}
+
+  void set_pressure_switch(::std::unique_ptr<DigitalSource> pressure_switch) {
+    pressure_switch_ = ::std::move(pressure_switch);
+  }
+
+  void set_compressor_relay(::std::unique_ptr<Relay> compressor_relay) {
+    compressor_relay_ = ::std::move(compressor_relay);
+  }
 
   void set_fridge_grabbers_top_front(::std::unique_ptr<BufferedSolenoid> s) {
     fridge_grabbers_top_front_ = ::std::move(s);
@@ -410,9 +419,14 @@
         claw_.FetchLatest();
         if (claw_.get()) {
           LOG_STRUCT(DEBUG, "solenoids", *claw_);
-          claw_pinchers_->Set(claw_->rollers_closed);
+          claw_pinchers_->Set(!claw_->rollers_closed);
         }
       }
+      if (!pressure_switch_->Get()) {
+        compressor_relay_->Set(Relay::kForward);
+      } else {
+        compressor_relay_->Set(Relay::kOff);
+      }
 
       pcm_->Flush();
     }
@@ -427,6 +441,8 @@
   ::std::unique_ptr<BufferedSolenoid> fridge_grabbers_bottom_front_;
   ::std::unique_ptr<BufferedSolenoid> fridge_grabbers_bottom_back_;
   ::std::unique_ptr<BufferedSolenoid> claw_pinchers_;
+  ::std::unique_ptr<DigitalSource> pressure_switch_;
+  ::std::unique_ptr<Relay> compressor_relay_;
 
   ::aos::Queue<::frc971::control_loops::FridgeQueue::Output> fridge_;
   ::aos::Queue<::frc971::control_loops::ClawQueue::Output> claw_;
@@ -571,8 +587,6 @@
     JoystickSender joystick_sender;
     ::std::thread joystick_thread(::std::ref(joystick_sender));
     // TODO(austin): Compressor needs to use a spike.
-    ::std::unique_ptr<Compressor> compressor(new Compressor());
-    compressor->SetClosedLoopControl(true);
 
     SensorReader reader;
     LOG(INFO, "Creating the reader\n");
@@ -635,11 +649,14 @@
     ::std::unique_ptr<::frc971::wpilib::BufferedPcm> pcm(
         new ::frc971::wpilib::BufferedPcm());
     SolenoidWriter solenoid_writer(pcm);
-    solenoid_writer.set_fridge_grabbers_top_front(pcm->MakeSolenoid(1));
-    solenoid_writer.set_fridge_grabbers_top_back(pcm->MakeSolenoid(1));
+    solenoid_writer.set_fridge_grabbers_top_front(pcm->MakeSolenoid(0));
+    solenoid_writer.set_fridge_grabbers_top_back(pcm->MakeSolenoid(0));
     solenoid_writer.set_fridge_grabbers_bottom_front(pcm->MakeSolenoid(2));
-    solenoid_writer.set_fridge_grabbers_bottom_back(pcm->MakeSolenoid(3));
-    solenoid_writer.set_claw_pinchers(pcm->MakeSolenoid(0));
+    solenoid_writer.set_fridge_grabbers_bottom_back(pcm->MakeSolenoid(1));
+    solenoid_writer.set_claw_pinchers(pcm->MakeSolenoid(4));
+
+    solenoid_writer.set_pressure_switch(make_unique<DigitalInput>(9));
+    solenoid_writer.set_compressor_relay(make_unique<Relay>(0));
     ::std::thread solenoid_thread(::std::ref(solenoid_writer));
 
     // Wait forever. Not much else to do...