Remove control panel code
Chezy champs doesn't have it, and the code isn't finished
Change-Id: I54705d606a268e03c3e4d7c1182bc87cac0c6be4
Signed-off-by: milind-u <milind.upadhyay@gmail.com>
diff --git a/y2020/wpilib_interface.cc b/y2020/wpilib_interface.cc
index 914c9c6..b7cf7e1 100644
--- a/y2020/wpilib_interface.cc
+++ b/y2020/wpilib_interface.cc
@@ -186,13 +186,6 @@
right_accelerator_encoder_ = ::std::move(encoder);
}
- // Control Panel
-
- void set_control_panel_encoder(::std::unique_ptr<frc::Encoder> encoder) {
- fast_encoder_filter_.Add(encoder.get());
- control_panel_encoder_ = ::std::move(encoder);
- }
-
// Auto mode switches.
void set_autonomous_mode(int i, ::std::unique_ptr<frc::DigitalInput> sensor) {
medium_encoder_filter_.Add(sensor.get());
@@ -252,14 +245,6 @@
flatbuffers::Offset<frc971::PotAndAbsolutePosition> turret_offset =
frc971::PotAndAbsolutePosition::Pack(*builder.fbb(), &turret);
- // Control Panel
- frc971::RelativePositionT control_panel;
- CopyPosition(*control_panel_encoder_, &control_panel,
- Values::kControlPanelEncoderCountsPerRevolution(),
- Values::kControlPanelEncoderRatio(), false);
- flatbuffers::Offset<frc971::RelativePosition> control_panel_offset =
- frc971::RelativePosition::Pack(*builder.fbb(), &control_panel);
-
// Shooter
y2020::control_loops::superstructure::ShooterPositionT shooter;
shooter.theta_finisher =
@@ -286,7 +271,6 @@
position_builder.add_intake_joint(intake_joint_offset);
position_builder.add_turret(turret_offset);
position_builder.add_shooter(shooter_offset);
- position_builder.add_control_panel(control_panel_offset);
builder.Send(position_builder.Finish());
}
@@ -323,9 +307,7 @@
::frc971::wpilib::AbsoluteEncoder intake_joint_encoder_;
::std::unique_ptr<::frc::Encoder> finisher_encoder_,
- left_accelerator_encoder_, right_accelerator_encoder_,
- control_panel_encoder_;
-
+ left_accelerator_encoder_, right_accelerator_encoder_;
::std::array<::std::unique_ptr<frc::DigitalInput>, 2> autonomous_modes_;
frc971::wpilib::ADIS16470 *imu_ = nullptr;
@@ -384,11 +366,6 @@
}
}
- void set_washing_machine_control_panel_victor(
- ::std::unique_ptr<::frc::VictorSP> t) {
- washing_machine_control_panel_victor_ = ::std::move(t);
- }
-
void set_accelerator_left_falcon(::std::unique_ptr<::frc::TalonFX> t) {
accelerator_left_falcon_ = ::std::move(t);
}
@@ -438,12 +415,6 @@
std::clamp(output.feeder_voltage(), -kMaxBringupPower,
kMaxBringupPower) /
12.0);
- if (washing_machine_control_panel_victor_) {
- washing_machine_control_panel_victor_->SetSpeed(
- std::clamp(-output.washing_machine_spinner_voltage(),
- -kMaxBringupPower, kMaxBringupPower) /
- 12.0);
- }
accelerator_left_falcon_->SetSpeed(
std::clamp(-output.accelerator_left_voltage(), -kMaxBringupPower,
@@ -478,9 +449,6 @@
hood_victor_->SetDisabled();
intake_joint_victor_->SetDisabled();
turret_victor_->SetDisabled();
- if (washing_machine_control_panel_victor_) {
- washing_machine_control_panel_victor_->SetDisabled();
- }
accelerator_left_falcon_->SetDisabled();
accelerator_right_falcon_->SetDisabled();
finisher_falcon0_->SetDisabled();
@@ -492,7 +460,7 @@
}
::std::unique_ptr<::frc::VictorSP> hood_victor_, intake_joint_victor_,
- turret_victor_, washing_machine_control_panel_victor_;
+ turret_victor_;
::std::unique_ptr<::frc::TalonFX> accelerator_left_falcon_,
accelerator_right_falcon_, finisher_falcon0_, finisher_falcon1_;
@@ -550,9 +518,6 @@
sensor_reader.set_left_accelerator_encoder(make_encoder(4));
sensor_reader.set_right_accelerator_encoder(make_encoder(3));
- sensor_reader.set_control_panel_encoder(
- make_unique<frc::Encoder>(5, 6, false, frc::Encoder::k1X));
-
// Note: If ADIS16470 is plugged in directly to the roboRIO SPI port without
// the Spartan Board, then trigger is on 26, reset 27, and chip select is
// CS0.
@@ -592,8 +557,6 @@
superstructure_writer.set_turret_victor(make_unique<frc::VictorSP>(7));
superstructure_writer.set_feeder_falcon(
make_unique<ctre::phoenix::motorcontrol::can::TalonFX>(1));
- superstructure_writer.set_washing_machine_control_panel_victor(
- make_unique<frc::VictorSP>(6));
superstructure_writer.set_accelerator_left_falcon(
make_unique<::frc::TalonFX>(5));
superstructure_writer.set_accelerator_right_falcon(