Figure out PWM output and solenoid numbers.
Also add a file that I forgot to add in another change, which
has been merged.
Change-Id: Iaa89ebceddf5b55fe3ec373c53142e20b558e9a9
diff --git a/bot3/output/motor_writer.cc b/bot3/output/motor_writer.cc
index c390a9e..809a125 100644
--- a/bot3/output/motor_writer.cc
+++ b/bot3/output/motor_writer.cc
@@ -41,13 +41,13 @@
drivetrain.FetchLatest();
if (drivetrain.IsNewerThanMS(kOutputMaxAgeMS)) {
LOG_STRUCT(DEBUG, "will output", *drivetrain);
- SetPWMOutput(3, drivetrain->right_voltage / 12.0, kTalonBounds);
- SetPWMOutput(6, -drivetrain->left_voltage / 12.0, kTalonBounds);
- SetSolenoid(7, drivetrain->left_high);
+ SetPWMOutput(5, drivetrain->right_voltage / 12.0, kTalonBounds);
+ SetPWMOutput(2, -drivetrain->left_voltage / 12.0, kTalonBounds);
+ SetSolenoid(1, drivetrain->left_high);
SetSolenoid(8, drivetrain->right_high);
} else {
- DisablePWMOutput(3);
- DisablePWMOutput(8);
+ DisablePWMOutput(2);
+ DisablePWMOutput(5);
LOG_INTERVAL(drivetrain_old_);
}
drivetrain_old_.Print();
@@ -59,33 +59,28 @@
rollers.FetchLatest();
if (rollers.IsNewerThanMS(kOutputMaxAgeMS)) {
LOG_STRUCT(DEBUG, "will output", *rollers);
- // TODO (danielp): Figure out what the actual PWM outputs will be here.
// There are two motors for each of these.
- SetPWMOutput(1, rollers->front_intake_voltage / 12.0, kTalonBounds);
- SetPWMOutput(5, -rollers->front_intake_voltage / 12.0, kTalonBounds);
- SetPWMOutput(2, rollers->back_intake_voltage / 12.0, kTalonBounds);
- SetPWMOutput(7, -rollers->back_intake_voltage / 12.0, kTalonBounds);
+ SetPWMOutput(3, rollers->front_intake_voltage / 12.0, kTalonBounds);
+ SetPWMOutput(7, -rollers->front_intake_voltage / 12.0, kTalonBounds);
+ SetPWMOutput(1, rollers->back_intake_voltage / 12.0, kTalonBounds);
+ SetPWMOutput(6, -rollers->back_intake_voltage / 12.0, kTalonBounds);
SetPWMOutput(4, rollers->low_goal_voltage / 12.0, kTalonBounds);
- SetPWMOutput(8, -rollers->low_goal_voltage / 12.0, kTalonBounds);
-
- // We have two pistons for each intake.
- SetSolenoid(5, rollers->front_extended);
- SetSolenoid(6, rollers->front_extended);
+ SetSolenoid(2, rollers->front_extended);
+ SetSolenoid(5, !rollers->front_extended);
SetSolenoid(3, rollers->back_extended);
- SetSolenoid(4, rollers->back_extended);
+ SetSolenoid(4, !rollers->back_extended);
} else {
- DisablePWMOutput(1);
- DisablePWMOutput(5);
- DisablePWMOutput(2);
+ DisablePWMOutput(3);
DisablePWMOutput(7);
+ DisablePWMOutput(1);
+ DisablePWMOutput(6);
DisablePWMOutput(4);
- DisablePWMOutput(8);
// Retract intakes.
- SetSolenoid(5, false);
- SetSolenoid(6, false);
+ SetSolenoid(2, false);
SetSolenoid(3, false);
- SetSolenoid(4, false);
+ SetSolenoid(5, true);
+ SetSolenoid(4, true);
LOG_INTERVAL(rollers_old_);
}