commit 1b84afa43f0ac701653e39d5c5e7a8a636d38b27
author Sabina Davis <sabina1109@gmail.com> Sat Feb 09 01:20:21 2019 -0800
committer Sabina Davis <sabina1109@gmail.com> Sat Feb 09 01:20:21 2019 -0800
tree 311e2820522a30ed5171d195ec6a1005e5945974
parent 2253df31e9e7c6c79b8b691a929f023d6566de60

Bringup Changes.

Code robot bring-up fixes and changes.

Change-Id: I7e786a0e26bb545c3eddf03b42c843b0a38608f1

y2019/BUILD

diff --git a/y2019/BUILD b/y2019/BUILD
index ad35ead..2eb5e24 100644
--- a/y2019/BUILD
+++ b/y2019/BUILD
@@ -1,3 +1,13 @@
+load("//frc971:downloader.bzl", "robot_downloader")
+
+robot_downloader(
+    start_binaries = [
+        ":joystick_reader",
+        ":wpilib_interface",
+        "//y2019/control_loops/drivetrain:drivetrain",
+    ],
+)
+
 cc_library(
     name = "constants",
     srcs = [
@@ -55,7 +65,8 @@
         "//third_party/Phoenix-frc-lib:phoenix",
     ],
 )
-cc_library(
+
+cc_binary(
     name = "joystick_reader",
     srcs = [
         ":joystick_reader.cc",
@@ -63,9 +74,9 @@
     deps = [
         "//aos:init",
         "//aos/actions:action_lib",
+        "//aos/input:action_joystick_input",
         "//aos/input:drivetrain_input",
         "//aos/input:joystick_input",
-        "//aos/input:action_joystick_input",
         "//aos/logging",
         "//aos/network:team_number",
         "//aos/stl_mutex",

y2019/constants.h

diff --git a/y2019/constants.h b/y2019/constants.h
index e7c178b..e68143c 100644
--- a/y2019/constants.h
+++ b/y2019/constants.h
@@ -1,8 +1,8 @@
 #ifndef Y2019_CONSTANTS_H_
 #define Y2019_CONSTANTS_H_
 
-#include <stdint.h>
 #include <math.h>
+#include <stdint.h>
 
 #include "frc971/constants.h"
 #include "y2019/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
@@ -28,7 +28,7 @@
     return kDrivetrainCyclesPerRevolution() * 4;
   }
   static constexpr double kDrivetrainEncoderRatio() {
-    return (52.0 / 24.0);
+    return (24.0 / 52.0);
   }
   static constexpr double kMaxDrivetrainEncoderPulsesPerSecond() {
     return control_loops::drivetrain::kFreeSpeed / (2.0 * M_PI) *

y2019/wpilib_interface.cc

diff --git a/y2019/wpilib_interface.cc b/y2019/wpilib_interface.cc
index c696a37..bc6c25f 100644
--- a/y2019/wpilib_interface.cc
+++ b/y2019/wpilib_interface.cc
@@ -169,9 +169,9 @@
 
     ::frc971::wpilib::DrivetrainWriter drivetrain_writer;
     drivetrain_writer.set_left_controller0(
-        ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(2)), false);
+        ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(0)), true);
     drivetrain_writer.set_right_controller0(
-        ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(3)), false);
+        ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(1)), false);
     ::std::thread drivetrain_writer_thread(::std::ref(drivetrain_writer));
 
     // Wait forever. Not much else to do...