Removed HallEffect.
Change-Id: I677387d5c03a0e274b9ce5332bc56af367b19113
diff --git a/y2014/wpilib/BUILD b/y2014/wpilib/BUILD
index 8b0713c..3436376 100644
--- a/y2014/wpilib/BUILD
+++ b/y2014/wpilib/BUILD
@@ -22,7 +22,6 @@
'//aos/common/messages:robot_state',
'//aos/common/util:phased_loop',
'//aos/common/util:wrapping_counter',
- '//frc971/wpilib:hall_effect',
'//frc971/wpilib:joystick_sender',
'//frc971/wpilib:loop_output_handler',
'//frc971/wpilib:buffered_pcm',
diff --git a/y2014/wpilib/wpilib_interface.cc b/y2014/wpilib/wpilib_interface.cc
index 3977300..c8792d0 100644
--- a/y2014/wpilib/wpilib_interface.cc
+++ b/y2014/wpilib/wpilib_interface.cc
@@ -38,7 +38,6 @@
#include "y2014/constants.h"
#include "y2014/queues/auto_mode.q.h"
-#include "frc971/wpilib/hall_effect.h"
#include "frc971/wpilib/joystick_sender.h"
#include "frc971/wpilib/loop_output_handler.h"
#include "frc971/wpilib/buffered_solenoid.h"
@@ -309,8 +308,8 @@
{
auto shooter_message = shooter_queue.position.MakeMessage();
shooter_message->position = shooter_translate(shooter_encoder_->GetRaw());
- shooter_message->plunger = shooter_plunger_reader_->value();
- shooter_message->latch = shooter_latch_reader_->value();
+ shooter_message->plunger = !shooter_plunger_reader_->value();
+ shooter_message->latch = !shooter_latch_reader_->value();
CopyShooterPosedgeCounts(shooter_proximal_counter_.get(),
&shooter_message->pusher_proximal);
CopyShooterPosedgeCounts(shooter_distal_counter_.get(),
@@ -388,12 +387,12 @@
void CopyPosition(const EdgeCounter *counter, HallEffectStruct *out) {
const double multiplier = reversed_ ? -1.0 : 1.0;
- out->current = counter->polled_value();
- out->posedge_count = counter->positive_interrupt_count();
- out->negedge_count = counter->negative_interrupt_count();
- out->posedge_value =
- multiplier * claw_translate(counter->last_positive_encoder_value());
+ out->current = !counter->polled_value();
+ out->posedge_count = counter->negative_interrupt_count();
+ out->negedge_count = counter->positive_interrupt_count();
out->negedge_value =
+ multiplier * claw_translate(counter->last_positive_encoder_value());
+ out->posedge_value =
multiplier * claw_translate(counter->last_negative_encoder_value());
}
@@ -417,9 +416,7 @@
void CopyShooterPosedgeCounts(const DMAEdgeCounter *counter,
PosedgeOnlyCountedHallEffectStruct *output) {
- // TODO(Brian): Remove HallEffect so current will get inverted too like
- // everything else.
- output->current = counter->polled_value();
+ output->current = !counter->polled_value();
// These are inverted because the hall effects give logical false when
// there's a magnet in front of them.
output->posedge_count = counter->negative_count();
@@ -698,20 +695,20 @@
reader.set_low_right_drive_hall(make_unique<AnalogInput>(3));
reader.set_top_claw_encoder(make_encoder(3));
- reader.set_top_claw_front_hall(make_unique<HallEffect>(4)); // R2
- reader.set_top_claw_calibration_hall(make_unique<HallEffect>(3)); // R3
- reader.set_top_claw_back_hall(make_unique<HallEffect>(5)); // R1
+ reader.set_top_claw_front_hall(make_unique<DigitalInput>(4)); // R2
+ reader.set_top_claw_calibration_hall(make_unique<DigitalInput>(3)); // R3
+ reader.set_top_claw_back_hall(make_unique<DigitalInput>(5)); // R1
reader.set_bottom_claw_encoder(make_encoder(4));
- reader.set_bottom_claw_front_hall(make_unique<HallEffect>(1)); // L2
- reader.set_bottom_claw_calibration_hall(make_unique<HallEffect>(0)); // L3
- reader.set_bottom_claw_back_hall(make_unique<HallEffect>(2)); // L1
+ reader.set_bottom_claw_front_hall(make_unique<DigitalInput>(1)); // L2
+ reader.set_bottom_claw_calibration_hall(make_unique<DigitalInput>(0)); // L3
+ reader.set_bottom_claw_back_hall(make_unique<DigitalInput>(2)); // L1
reader.set_shooter_encoder(::std::move(shooter_encoder_temp));
- reader.set_shooter_proximal(make_unique<HallEffect>(6)); // S1
- reader.set_shooter_distal(make_unique<HallEffect>(7)); // S2
- reader.set_shooter_plunger(make_unique<HallEffect>(8)); // S3
- reader.set_shooter_latch(make_unique<HallEffect>(9)); // S4
+ reader.set_shooter_proximal(make_unique<DigitalInput>(6)); // S1
+ reader.set_shooter_distal(make_unique<DigitalInput>(7)); // S2
+ reader.set_shooter_plunger(make_unique<DigitalInput>(8)); // S3
+ reader.set_shooter_latch(make_unique<DigitalInput>(9)); // S4
reader.set_dma(make_unique<DMA>());
::std::thread reader_thread(::std::ref(reader));