Moved 2014 code into y2014 namespace.
Change-Id: Ibece165daa9e267ea1c3c7b822b0ba3eeb9830bb
diff --git a/y2014/control_loops/claw/claw.cc b/y2014/control_loops/claw/claw.cc
index 5c1b843..040cef3 100644
--- a/y2014/control_loops/claw/claw.cc
+++ b/y2014/control_loops/claw/claw.cc
@@ -44,10 +44,13 @@
// If a claw runs up against a movable limit, move both claws outwards to get
// out of the condition.
-namespace frc971 {
+namespace y2014 {
namespace control_loops {
+using ::frc971::HallEffectTracker;
using ::y2014::control_loops::claw::kDt;
+using ::frc971::control_loops::DoCoerceGoal;
+using ::frc971::control_loops::ClawPositionToLog;
static const double kZeroingVoltage = 4.0;
static const double kMaxVoltage = 12.0;
@@ -216,7 +219,8 @@
encoder_(0.0),
last_encoder_(0.0) {}
-void ZeroedStateFeedbackLoop::SetPositionValues(const HalfClawPosition &claw) {
+void ZeroedStateFeedbackLoop::SetPositionValues(
+ const ::frc971::control_loops::HalfClawPosition &claw) {
front_.Update(claw.front);
calibration_.Update(claw.calibration);
back_.Update(claw.back);
@@ -290,7 +294,8 @@
any_triggered_last_ = any_sensor_triggered;
}
-void ZeroedStateFeedbackLoop::Reset(const HalfClawPosition &claw) {
+void ZeroedStateFeedbackLoop::Reset(
+ const ::frc971::control_loops::HalfClawPosition &claw) {
set_zeroing_state(ZeroedStateFeedbackLoop::UNKNOWN_POSITION);
front_.Reset(claw.front);
@@ -366,8 +371,8 @@
return false;
}
-ClawMotor::ClawMotor(control_loops::ClawQueue *my_claw)
- : aos::controls::ControlLoop<control_loops::ClawQueue>(my_claw),
+ClawMotor::ClawMotor(::frc971::control_loops::ClawQueue *my_claw)
+ : aos::controls::ControlLoop<::frc971::control_loops::ClawQueue>(my_claw),
has_top_claw_goal_(false),
top_claw_goal_(0.0),
top_claw_(this),
@@ -547,7 +552,7 @@
}
void LimitClawGoal(double *bottom_goal, double *top_goal,
- const frc971::constants::Values &values) {
+ const constants::Values &values) {
// first update position based on angle limit
const double separation = *top_goal - *bottom_goal;
if (separation > values.claw.soft_max_separation) {
@@ -611,10 +616,11 @@
bool ClawMotor::is_zeroing() const { return !is_ready(); }
// Positive angle is up, and positive power is up.
-void ClawMotor::RunIteration(const control_loops::ClawQueue::Goal *goal,
- const control_loops::ClawQueue::Position *position,
- control_loops::ClawQueue::Output *output,
- control_loops::ClawQueue::Status *status) {
+void ClawMotor::RunIteration(
+ const ::frc971::control_loops::ClawQueue::Goal *goal,
+ const ::frc971::control_loops::ClawQueue::Position *position,
+ ::frc971::control_loops::ClawQueue::Output *output,
+ ::frc971::control_loops::ClawQueue::Status *status) {
// Disable the motors now so that all early returns will return with the
// motors disabled.
if (output) {
@@ -637,7 +643,7 @@
bottom_claw_.Reset(position->bottom);
}
- const frc971::constants::Values &values = constants::GetValues();
+ const constants::Values &values = constants::GetValues();
if (position) {
Eigen::Matrix<double, 2, 1> Y;
@@ -1020,5 +1026,4 @@
}
} // namespace control_loops
-} // namespace frc971
-
+} // namespace y2014