Correct sensor and motor ports
Set ports as described here:
https://docs.google.com/spreadsheets/d/13GmcwecwOB2_6oZBmfoExJfj6lFXFfovuppyIwpIxW4/edit?usp=sharing
Added TODOs for the ones that still haven't been decided.
Signed-off-by: Milind Upadhyay <milind.upadhyay@gmail.com>
Change-Id: I64b60fdfc7d0b91e49dc54ce3f7eed91b9b8d14d
diff --git a/y2022/wpilib_interface.cc b/y2022/wpilib_interface.cc
index 00417f0..b5907a5 100644
--- a/y2022/wpilib_interface.cc
+++ b/y2022/wpilib_interface.cc
@@ -627,39 +627,41 @@
sensor_reader.set_drivetrain_left_encoder(make_encoder(0));
sensor_reader.set_drivetrain_right_encoder(make_encoder(1));
- sensor_reader.set_intake_encoder_front(make_encoder(2));
+ sensor_reader.set_intake_encoder_front(make_encoder(3));
sensor_reader.set_intake_front_absolute_pwm(
- make_unique<frc::DigitalInput>(2));
+ make_unique<frc::DigitalInput>(3));
sensor_reader.set_intake_front_potentiometer(
+ make_unique<frc::AnalogInput>(1));
+
+ sensor_reader.set_intake_encoder_back(make_encoder(4));
+ sensor_reader.set_intake_back_absolute_pwm(
+ make_unique<frc::DigitalInput>(4));
+ sensor_reader.set_intake_back_potentiometer(
make_unique<frc::AnalogInput>(2));
- sensor_reader.set_intake_encoder_back(make_encoder(3));
- sensor_reader.set_intake_back_absolute_pwm(
- make_unique<frc::DigitalInput>(3));
- sensor_reader.set_intake_back_potentiometer(
- make_unique<frc::AnalogInput>(3));
+ sensor_reader.set_turret_encoder(make_encoder(5));
+ sensor_reader.set_turret_absolute_pwm(make_unique<frc::DigitalInput>(5));
+ sensor_reader.set_turret_potentiometer(make_unique<frc::AnalogInput>(3));
- sensor_reader.set_turret_encoder(make_encoder(4));
- sensor_reader.set_turret_absolute_pwm(make_unique<frc::DigitalInput>(4));
- sensor_reader.set_turret_potentiometer(make_unique<frc::AnalogInput>(4));
-
- sensor_reader.set_intake_beambreak_front(make_unique<frc::DigitalInput>(5));
- sensor_reader.set_intake_beambreak_back(make_unique<frc::DigitalInput>(6));
+ // TODO(milind): correct intake beambreak ports once set
+ sensor_reader.set_intake_beambreak_front(
+ make_unique<frc::DigitalInput>(22));
+ sensor_reader.set_intake_beambreak_back(make_unique<frc::DigitalInput>(23));
sensor_reader.set_turret_beambreak(make_unique<frc::DigitalInput>(7));
- sensor_reader.set_climber_potentiometer(make_unique<frc::AnalogInput>(5));
+ sensor_reader.set_climber_potentiometer(make_unique<frc::AnalogInput>(7));
sensor_reader.set_flipper_arm_left_potentiometer(
make_unique<frc::AnalogInput>(4));
sensor_reader.set_flipper_arm_right_potentiometer(
make_unique<frc::AnalogInput>(5));
- sensor_reader.set_catapult_encoder(
- make_unique<frc::Encoder>(0, 1, false, frc::Encoder::k4X));
+ // TODO(milind): correct catapult encoder and absolute pwm ports
+ sensor_reader.set_catapult_encoder(make_encoder(6));
sensor_reader.set_catapult_absolute_pwm(
- std::make_unique<frc::DigitalInput>(2));
+ std::make_unique<frc::DigitalInput>(6));
sensor_reader.set_catapult_potentiometer(
- std::make_unique<frc::AnalogInput>(2));
+ std::make_unique<frc::AnalogInput>(6));
sensor_reader.set_heading_input(make_unique<frc::DigitalInput>(8));
sensor_reader.set_yaw_rate_input(make_unique<frc::DigitalInput>(9));
@@ -670,27 +672,32 @@
::aos::ShmEventLoop output_event_loop(&config.message());
::frc971::wpilib::DrivetrainWriter drivetrain_writer(&output_event_loop);
drivetrain_writer.set_left_controller0(
- ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(1)), true);
+ ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(0)), true);
drivetrain_writer.set_right_controller0(
- ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(0)), false);
+ ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(1)), false);
SuperstructureWriter superstructure_writer(&output_event_loop);
- superstructure_writer.set_turret_falcon(make_unique<::frc::TalonFX>(8));
+ superstructure_writer.set_turret_falcon(make_unique<::frc::TalonFX>(3));
+ // TODO(milind): correct CAN ports
superstructure_writer.set_roller_falcon_front(
- make_unique<::ctre::phoenix::motorcontrol::can::TalonFX>(3));
+ make_unique<::ctre::phoenix::motorcontrol::can::TalonFX>(0));
superstructure_writer.set_roller_falcon_back(
- make_unique<::ctre::phoenix::motorcontrol::can::TalonFX>(4));
+ make_unique<::ctre::phoenix::motorcontrol::can::TalonFX>(1));
+ // TODO(milind): correct port
superstructure_writer.set_transfer_roller_victor(
- make_unique<::frc::VictorSP>(9));
- superstructure_writer.set_intake_falcon_front(make_unique<frc::TalonFX>(5));
- superstructure_writer.set_intake_falcon_back(make_unique<frc::TalonFX>(6));
- superstructure_writer.set_climber_falcon(make_unique<frc::TalonFX>(7));
+ make_unique<::frc::VictorSP>(5));
+ superstructure_writer.set_intake_falcon_front(make_unique<frc::TalonFX>(2));
+ superstructure_writer.set_intake_falcon_back(make_unique<frc::TalonFX>(4));
+ // TODO(milind): correct port
+ superstructure_writer.set_climber_falcon(make_unique<frc::TalonFX>(6));
+ // TODO(milind): correct CAN port
superstructure_writer.set_flipper_arms_falcon(
- make_unique<::ctre::phoenix::motorcontrol::can::TalonFX>(5));
+ make_unique<::ctre::phoenix::motorcontrol::can::TalonFX>(2));
- superstructure_writer.set_catapult_falcon_1(make_unique<::frc::TalonFX>(2));
- superstructure_writer.set_catapult_falcon_2(make_unique<::frc::TalonFX>(3));
+ // TODO(milind): correct ports
+ superstructure_writer.set_catapult_falcon_1(make_unique<::frc::TalonFX>(7));
+ superstructure_writer.set_catapult_falcon_2(make_unique<::frc::TalonFX>(8));
AddLoop(&output_event_loop);