commit 5229c7e1273f1508dfd40c626c510a7889b627de
author Austin Schuh <austin.linux@gmail.com> Sat Jan 23 13:37:36 2021 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Jan 23 13:38:10 2021 -0800
tree 150e448412f898f43c867a57b1f34437ae6cc0fb
parent 9bb2f81db2965c7554fbf005437b6404c84982fe

Add a drivetrain power limit

This lets us test autonomous without applying all the beans.

Change-Id: Ic171bec6f52c794471744b0f5d64caced569c8ee

frc971/wpilib/drivetrain_writer.h

diff --git a/frc971/wpilib/drivetrain_writer.h b/frc971/wpilib/drivetrain_writer.h
index 9cf9a67..c27638f 100644
--- a/frc971/wpilib/drivetrain_writer.h
+++ b/frc971/wpilib/drivetrain_writer.h
@@ -13,6 +13,8 @@
 class DrivetrainWriter : public ::frc971::wpilib::LoopOutputHandler<
                              ::frc971::control_loops::drivetrain::Output> {
  public:
+  static constexpr double kMaxBringupPower = 12.0;
+
   DrivetrainWriter(::aos::EventLoop *event_loop)
       : ::frc971::wpilib::LoopOutputHandler<
             ::frc971::control_loops::drivetrain::Output>(event_loop,
@@ -44,7 +46,9 @@
   void Stop() override;
 
   double SafeSpeed(bool reversed, double voltage) {
-    return (::aos::Clip((reversed ? -1.0 : 1.0) * voltage, -12.0, 12.0) / 12.0);
+    return (::aos::Clip((reversed ? -1.0 : 1.0) * voltage, -kMaxBringupPower,
+                        kMaxBringupPower) /
+            12.0);
   }
 
   ::std::unique_ptr<::frc::PWM> left_controller0_, right_controller0_,