commit 2704ecf9133fc54b6eddb9de849cb7738528361a
author Brian Silverman <brians> Wed Apr 09 20:24:03 2014 -0700
committer Brian Silverman <brians> Wed Apr 09 20:24:03 2014 -0700
tree 06405d0541679a59712d72b97d1c775ebd7ebdcf
parent b6d3fb81d9c49e1c368208c135b21c1b2348ecfd

moved the outputs being killed detection to the right place

aos/common/common.gyp

diff --git a/aos/common/common.gyp b/aos/common/common.gyp
index becf20f..d6bb27a 100644
--- a/aos/common/common.gyp
+++ b/aos/common/common.gyp
@@ -181,6 +181,7 @@
         '<(AOS)/common/logging/logging.gyp:queue_logging',
         '<(AOS)/common/util/util.gyp:log_interval',
         '<(DEPTH)/bbb_cape/src/bbb/bbb.gyp:sensor_generation',
+        '<(DEPTH)/frc971/queues/queues.gyp:output_check',
       ],
       'export_dependent_settings': [
         '<(AOS)/common/messages/messages.gyp:robot_state',
@@ -191,6 +192,7 @@
         '<(AOS)/common/logging/logging.gyp:queue_logging',
         '<(AOS)/common/util/util.gyp:log_interval',
         '<(DEPTH)/bbb_cape/src/bbb/bbb.gyp:sensor_generation',
+        '<(DEPTH)/frc971/queues/queues.gyp:output_check',
       ],
     },
     {

aos/common/controls/control_loop-tmpl.h

diff --git a/aos/common/controls/control_loop-tmpl.h b/aos/common/controls/control_loop-tmpl.h
index baf352b..404425a 100644
--- a/aos/common/controls/control_loop-tmpl.h
+++ b/aos/common/controls/control_loop-tmpl.h
@@ -6,6 +6,7 @@
 #include "aos/common/util/phased_loop.h"
 
 #include "bbb/sensor_generation.q.h"
+#include "frc971/queues/output_check.q.h"
 
 namespace aos {
 namespace control_loops {
@@ -120,6 +121,21 @@
     }
   }
 
+  ::frc971::output_check_received.FetchLatest();
+  // True if we're enabled but the motors aren't working.
+  // The 100ms is the result of disabling the robot while it's putting out a lot
+  // of power and looking at the time delay between the last PWM pulse and the
+  // battery voltage coming back up.
+  const bool motors_off = !::frc971::output_check_received.get() ||
+                          !::frc971::output_check_received.IsNewerThanMS(100);
+  motors_off_log_.Print();
+  if (motors_off) {
+    if (!::aos::robot_state.get() || ::aos::robot_state->enabled) {
+      LOG_INTERVAL(motors_off_log_);
+    }
+    outputs_enabled = false;
+  }
+
   // Run the iteration.
   aos::ScopedMessagePtr<StatusType> status =
       control_loop_->status.MakeMessage();

aos/common/controls/control_loop.h

diff --git a/aos/common/controls/control_loop.h b/aos/common/controls/control_loop.h
index becb080..a79f1e6 100644
--- a/aos/common/controls/control_loop.h
+++ b/aos/common/controls/control_loop.h
@@ -175,6 +175,8 @@
   SimpleLogInterval no_sensor_generation_ =
       SimpleLogInterval(kStaleLogInterval, ERROR,
                         "no sensor_generation message");
+  SimpleLogInterval motors_off_log_ =
+      SimpleLogInterval(kStaleLogInterval, WARNING, "motors disabled");
 };
 
 }  // namespace control_loops