Removed support for dual analog hall effect sensors for shifters
Change-Id: Ie521511f5181140de44c35385aac0b01b5116c06
diff --git a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
index c66a4e3..5cc15d1 100644
--- a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
+++ b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
@@ -31,8 +31,8 @@
// TODO(Comran): Make one that doesn't depend on the actual values for a
// specific robot.
-const constants::ShifterHallEffect kThreeStateDriveShifter{0.0, 0.0, 0.0,
- 0.0, 0.25, 0.75};
+const constants::ShifterHallEffect kThreeStateDriveShifter{0.0, 0.0, 0.25,
+ 0.75};
const DrivetrainConfig &GetDrivetrainConfig() {
static DrivetrainConfig kDrivetrainConfig{
diff --git a/frc971/shifter_hall_effect.h b/frc971/shifter_hall_effect.h
index aaa5ebd..991386d 100644
--- a/frc971/shifter_hall_effect.h
+++ b/frc971/shifter_hall_effect.h
@@ -4,18 +4,31 @@
namespace frc971 {
namespace constants {
-// Contains the voltages for an analog hall effect sensor on a shifter.
+// Contains the constants for mapping the analog voltages that the shifter
+// sensors return to the shifter position. The code which uses this is trying
+// to sort out if we are in low gear, high gear, or neutral.
struct ShifterHallEffect {
- // The numbers to use for scaling raw voltages to 0-1.
- // Low is near 0.0, high is near 1.0
- double low_gear_middle, low_gear_low;
- double high_gear_high, high_gear_middle;
+ // low_gear_low is the voltage that the shifter position sensor reads when it
+ // is all the way in low gear. high_gear_high is the voltage that the shifter
+ // position sensor reads when it is all the way in high gear. These two
+ // values are used to calculate a position from 0 to 1, where we get 0 when
+ // the shifter is in low gear, and 1 when it is high gear.
+ double low_gear_low;
+ double high_gear_high;
// The numbers for when the dog is clear of each gear.
+ // We are in low gear when the position is less than clear_low, and in high
+ // gear when the shifter position is greater than clear_high.
double clear_low, clear_high;
};
-} // constants
-} // frc971
+struct DualHallShifterHallEffect {
+ ShifterHallEffect shifter_hall_effect;
+ double low_gear_middle;
+ double high_gear_middle;
+};
+
+} // namespace constants
+} // namespace frc971
#endif