control loop timeout code now uses robot_state->outputs_enabled
The outputs_enabled flag falls low as soon as the robot disables the
outputs. They will stay at the last value that was commanded before
it disables for 100 ms, but we can conservatively tell the robot that
they are disabled at that point (since they practically are).
Change-Id: I47f883591dbe2e3696d3958a0ce4281232a5f1e1
diff --git a/aos/common/controls/control_loop.h b/aos/common/controls/control_loop.h
index f589ed7..02aa067 100644
--- a/aos/common/controls/control_loop.h
+++ b/aos/common/controls/control_loop.h
@@ -134,17 +134,14 @@
const T *queue_group() const { return control_loop_; }
private:
- static constexpr ::aos::time::Time kStaleLogInterval =
- ::aos::time::Time::InSeconds(0.1);
+ static constexpr ::std::chrono::milliseconds kStaleLogInterval =
+ ::std::chrono::milliseconds(100);
// The amount of time after the last PWM pulse we consider motors enabled for.
// 100ms is the result of using an oscilliscope to look at the input and
// output of a Talon. The Info Sheet also lists 100ms for Talon SR, Talon SRX,
// and Victor SP.
- static constexpr ::aos::time::Time kPwmDisableTime =
- ::aos::time::Time::InMS(100);
-
- // Maximum age of driver station packets before the loop will be disabled.
- static const int kDSPacketTimeoutMs = 500;
+ static constexpr ::std::chrono::milliseconds kPwmDisableTime =
+ ::std::chrono::milliseconds(100);
// Pointer to the queue group
T *control_loop_;
@@ -152,15 +149,10 @@
bool reset_ = false;
int32_t sensor_reader_pid_ = 0;
- ::aos::time::Time last_pwm_sent_{0, 0};
+ ::aos::monotonic_clock::time_point last_pwm_sent_ =
+ ::aos::monotonic_clock::min_time;
typedef ::aos::util::SimpleLogInterval SimpleLogInterval;
- SimpleLogInterval no_driver_station_ =
- SimpleLogInterval(kStaleLogInterval, ERROR,
- "no driver station packet");
- SimpleLogInterval driver_station_old_ =
- SimpleLogInterval(kStaleLogInterval, ERROR,
- "driver station packet is too old");
SimpleLogInterval no_sensor_state_ =
SimpleLogInterval(kStaleLogInterval, ERROR, "no sensor state");
SimpleLogInterval motors_off_log_ =