commit 3cb1d80bd5bfd49dd4b3b218b12aae490b4d6f34
author Brian Silverman <brians> Fri Aug 30 15:41:49 2013 -0700
committer Brian Silverman <brians> Fri Aug 30 15:41:49 2013 -0700
tree 8a4b968c62894370634dfb07d4cd8a0961101adf
parent 8774f24185492df0ee0257079901d13ebf82909c

made the angle adjust deadband voltage changeable per robot

frc971/constants.cpp

diff --git a/frc971/constants.cpp b/frc971/constants.cpp
index 989b77e..bb12ac2 100644
--- a/frc971/constants.cpp
+++ b/frc971/constants.cpp
@@ -61,6 +61,9 @@
 const double kAngleAdjustZeroingSpeed = -0.2;
 const double kAngleAdjustZeroingOffSpeed = -0.5;
 
+const double kPracticeAngleAdjustDeadband = 0.825;
+const double kCompAngleAdjustDeadband = 0.825;
+
 const int kCompCameraCenter = -2;
 const int kPracticeCameraCenter = -5;
 
@@ -98,6 +101,9 @@
   // Zeroing off speed.
   double angle_adjust_zeroing_off_speed;
 
+  // Deadband voltage.
+  double angle_adjust_deadband;
+
   // what camera_center returns
   int camera_center;
 };
@@ -129,6 +135,7 @@
                             kCompAngleAdjustLowerPhysicalLimit,
                             kAngleAdjustZeroingSpeed,
                             kAngleAdjustZeroingOffSpeed,
+                            kCompAngleAdjustDeadband,
                             kCompCameraCenter};
         break;
       case kPracticeTeamNumber:
@@ -148,6 +155,7 @@
                             kPracticeAngleAdjustLowerPhysicalLimit,
                             kAngleAdjustZeroingSpeed,
                             kAngleAdjustZeroingOffSpeed,
+                            kPracticeAngleAdjustDeadband,
                             kPracticeCameraCenter};
         break;
       default:
@@ -271,6 +279,13 @@
   return true;
 }
 
+bool angle_adjust_deadband(double *voltage) {
+  const Values *const values = GetValues();
+  if (values == NULL) return false;
+  *voltage = values->angle_adjust_deadband;
+  return true;
+}
+
 bool camera_center(int *center) {
   const Values *const values = GetValues();
   if (values == NULL) return false;

frc971/constants.h

diff --git a/frc971/constants.h b/frc971/constants.h
index 296a4f4..6a14e87 100644
--- a/frc971/constants.h
+++ b/frc971/constants.h
@@ -40,6 +40,9 @@
 bool angle_adjust_zeroing_speed(double *speed);
 bool angle_adjust_zeroing_off_speed(double *speed);
 
+// Returns the deadband voltage to use.
+bool angle_adjust_deadband(double *voltage);
+
 // Sets *center to how many pixels off center the vertical line
 // on the camera view is.
 bool camera_center(int *center);

frc971/control_loops/angle_adjust/angle_adjust.cc

diff --git a/frc971/control_loops/angle_adjust/angle_adjust.cc b/frc971/control_loops/angle_adjust/angle_adjust.cc
index 52baebb..3ecafa6 100644
--- a/frc971/control_loops/angle_adjust/angle_adjust.cc
+++ b/frc971/control_loops/angle_adjust/angle_adjust.cc
@@ -49,7 +49,10 @@
   }
 
   config_data->max_zeroing_voltage = 4.0;
-  config_data->deadband_voltage = 0.825;
+  if (!constants::angle_adjust_deadband(&config_data->deadband_voltage)) {
+    LOG(ERROR, "Failed to fetch the angle adjust deadband voltage constant.\n");
+    return false;
+  }
   return true;
 }