commit 4ef51af4a94fdddaf1968de0e7fd368337214ff8
author Austin Schuh <austin.linux@gmail.com> Sun Mar 04 01:08:45 2018 -0800
committer Austin Schuh <austin.linux@gmail.com> Sun Mar 04 01:17:09 2018 -0800
tree 1f7f33d080c3e3a6d63c94c1159604ad2b47f28f
parent 7a0904051e133cab6b72015c1090fb19d5cd049e

Added box back beambreak.

Change-Id: I64501084d0a6071b13dc3ea2e25c5c42a1c217e7

y2018/control_loops/superstructure/superstructure.q

diff --git a/y2018/control_loops/superstructure/superstructure.q b/y2018/control_loops/superstructure/superstructure.q
index 93d5935..166f4d3 100644
--- a/y2018/control_loops/superstructure/superstructure.q
+++ b/y2018/control_loops/superstructure/superstructure.q
@@ -172,6 +172,9 @@
     // Value of the beam breaker sensor. This value is true if the beam is
     // broken, false if the beam isn't broken.
     bool claw_beambreak_triggered;
+    // Value of the beambreak sensor detecting when the box has hit the frame
+    // cutout.
+    bool box_back_beambreak_triggered;
   };
 
   message Output {

y2018/wpilib_interface.cc

diff --git a/y2018/wpilib_interface.cc b/y2018/wpilib_interface.cc
index dcbe314..3a41264 100644
--- a/y2018/wpilib_interface.cc
+++ b/y2018/wpilib_interface.cc
@@ -263,6 +263,14 @@
     right_intake_cube_detector_ = ::std::move(input);
   }
 
+  void set_claw_beambreak(::std::unique_ptr<DigitalInput> input) {
+    claw_beambreak_ = ::std::move(input);
+  }
+
+  void set_box_back_beambreak(::std::unique_ptr<DigitalInput> input) {
+    box_back_beambreak_ = ::std::move(input);
+  }
+
   // Auto mode switches.
   void set_autonomous_mode(int i, ::std::unique_ptr<DigitalInput> sensor) {
     autonomous_modes_.at(i) = ::std::move(sensor);
@@ -461,6 +469,10 @@
       superstructure_message->intake.right.beam_break =
           right_intake_cube_detector_->Get();
 
+      superstructure_message->claw_beambreak_triggered = claw_beambreak_->Get();
+      superstructure_message->box_back_beambreak_triggered =
+          !box_back_beambreak_->Get();
+
       superstructure_message.Send();
     }
 
@@ -537,6 +549,9 @@
   ::std::unique_ptr<DigitalInput> left_intake_cube_detector_,
       right_intake_cube_detector_;
 
+  ::std::unique_ptr<DigitalInput> claw_beambreak_;
+  ::std::unique_ptr<DigitalInput> box_back_beambreak_;
+
   ::std::unique_ptr<DigitalInput> pwm_trigger_;
 
   ::std::array<::std::unique_ptr<DigitalInput>, 4> autonomous_modes_;
@@ -803,8 +818,8 @@
     reader.set_left_intake_spring_angle(make_unique<AnalogInput>(4));
     reader.set_left_intake_cube_detector(make_unique<DigitalInput>(0));
 
-    reader.set_autonomous_mode(0, make_unique<DigitalInput>(9));
-    reader.set_autonomous_mode(1, make_unique<DigitalInput>(8));
+    reader.set_claw_beambreak(make_unique<DigitalInput>(8));
+    reader.set_box_back_beambreak(make_unique<DigitalInput>(9));
 
     reader.set_pwm_trigger(make_unique<DigitalInput>(25));