Fixed directions and changed hood voltage limit.
Change-Id: Id1158cff40f048bf8e44c40d8896d4c866939cb9
diff --git a/y2017/control_loops/superstructure/hood/hood.h b/y2017/control_loops/superstructure/hood/hood.h
index c58e005..9c25cb9 100644
--- a/y2017/control_loops/superstructure/hood/hood.h
+++ b/y2017/control_loops/superstructure/hood/hood.h
@@ -31,8 +31,8 @@
}
// The zeroing and operating voltages.
- static constexpr double kZeroingVoltage = 2.5;
- static constexpr double kOperatingVoltage = 12.0;
+ static constexpr double kZeroingVoltage = 2.0;
+ static constexpr double kOperatingVoltage = 3.0;
void Iterate(const control_loops::HoodGoal *unsafe_goal,
const ::frc971::IndexPosition *position, double *output,
diff --git a/y2017/wpilib_interface.cc b/y2017/wpilib_interface.cc
index cf2dcad..c4a04f6 100644
--- a/y2017/wpilib_interface.cc
+++ b/y2017/wpilib_interface.cc
@@ -454,8 +454,8 @@
virtual void Write() override {
auto &queue = ::frc971::control_loops::drivetrain_queue.output;
LOG_STRUCT(DEBUG, "will output", *queue);
- drivetrain_left_victor_->SetSpeed(queue->left_voltage / 12.0);
- drivetrain_right_victor_->SetSpeed(-queue->right_voltage / 12.0);
+ drivetrain_left_victor_->SetSpeed(-queue->left_voltage / 12.0);
+ drivetrain_right_victor_->SetSpeed(queue->right_voltage / 12.0);
}
virtual void Stop() override {
@@ -508,7 +508,7 @@
indexer_victor_->SetSpeed(queue->voltage_indexer / 12.0);
indexer_roller_victor_->SetSpeed(queue->voltage_indexer_rollers /
12.0);
- turret_victor_->SetSpeed(::aos::Clip(queue->voltage_turret,
+ turret_victor_->SetSpeed(::aos::Clip(-queue->voltage_turret,
-kMaxBringupPower, kMaxBringupPower) /
12.0);
hood_victor_->SetSpeed(