commit 58461f5a833ad2ec936fa2754a122fcaaef10fc2
author Niko Sohmers <nikolai@sohmers.com> Wed Mar 20 20:12:10 2024 -0700
committer Niko Sohmers <nikolai@sohmers.com> Fri Mar 22 16:40:01 2024 -0700
tree fffc7a07b36790972c70f9534d51d6f3242238ec
parent 99faf63ea072e3b734c5dd791aa6ef83d7acd9c7

Add "disable_climber" and "disable_extend" to robot json files

This allows for disabling the climber and extend through robot.json files. Since the climber currently does not work it will be set to true.

Signed-off-by: Niko Sohmers <nikolai@sohmers.com>
Change-Id: I2e06d68c53a36cf6fd7a9fc6f8fb22beab78c334

y2024/wpilib_interface.cc

diff --git a/y2024/wpilib_interface.cc b/y2024/wpilib_interface.cc
index 6b2acc4..803845c 100644
--- a/y2024/wpilib_interface.cc
+++ b/y2024/wpilib_interface.cc
@@ -493,7 +493,7 @@
         current_limits->climber_stator_current_limit(),
         current_limits->climber_supply_current_limit());
     std::shared_ptr<TalonFX> extend =
-        (robot_constants->common()->disable_extend())
+        (robot_constants->robot()->disable_extend())
             ? nullptr
             : std::make_shared<TalonFX>(
                   12, false, "Drivetrain Bus", &canivore_signal_registry,
@@ -714,7 +714,7 @@
     can_superstructure_writer.add_talonfx("catapult_two", catapult_two);
     can_superstructure_writer.add_talonfx("turret", turret);
     can_superstructure_writer.add_talonfx("climber", climber);
-    if (!robot_constants->common()->disable_extend()) {
+    if (!robot_constants->robot()->disable_extend()) {
       can_superstructure_writer.add_talonfx("extend", extend);
     }
     can_superstructure_writer.add_talonfx("intake_roller", intake_roller);