Add hanger code.
This adds the goal nodes for the hanger, and the ability to hang.
Change-Id: Ib33c19298cd08e98abf27d9789982d78f8df191e
diff --git a/y2018/wpilib_interface.cc b/y2018/wpilib_interface.cc
index 0426444..cf19b26 100644
--- a/y2018/wpilib_interface.cc
+++ b/y2018/wpilib_interface.cc
@@ -722,6 +722,10 @@
distal_victor_ = ::std::move(t);
}
+ void set_hanger_victor(::std::unique_ptr<::frc::VictorSP> t) {
+ hanger_victor_ = ::std::move(t);
+ }
+
void set_left_intake_elastic_victor(::std::unique_ptr<::frc::VictorSP> t) {
left_intake_elastic_victor_ = ::std::move(t);
}
@@ -774,6 +778,9 @@
distal_victor_->SetSpeed(::aos::Clip(queue->voltage_distal,
-kMaxBringupPower, kMaxBringupPower) /
12.0);
+ hanger_victor_->SetSpeed(
+ ::aos::Clip(-queue->voltage_winch, -kMaxBringupPower, kMaxBringupPower) /
+ 12.0);
}
virtual void Stop() override {
@@ -786,11 +793,13 @@
proximal_victor_->SetDisabled();
distal_victor_->SetDisabled();
+ hanger_victor_->SetDisabled();
}
::std::unique_ptr<::frc::VictorSP> left_intake_rollers_victor_,
right_intake_rollers_victor_, left_intake_elastic_victor_,
- right_intake_elastic_victor_, proximal_victor_, distal_victor_;
+ right_intake_elastic_victor_, proximal_victor_, distal_victor_,
+ hanger_victor_;
};
class WPILibRobot : public ::frc971::wpilib::WPILibRobotBase {
@@ -879,7 +888,8 @@
superstructure_writer.set_distal_victor(
::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(1)));
- // Hanger: victor 8
+ superstructure_writer.set_hanger_victor(
+ ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(8)));
::std::thread superstructure_writer_thread(
::std::ref(superstructure_writer));