Added unit tests for the FPGA based disc indexing and the indexer now uses that data.
diff --git a/frc971/control_loops/index/index.h b/frc971/control_loops/index/index.h
index e581faa..870590a 100644
--- a/frc971/control_loops/index/index.h
+++ b/frc971/control_loops/index/index.h
@@ -53,6 +53,9 @@
// Start and stop position of the bottom disc detect sensor in meters.
static const double kBottomDiscDetectStart;
static const double kBottomDiscDetectStop;
+ // Delay between the negedge of the disc detect and when it engages on the
+ // indexer.
+ static const double kBottomDiscIndexDelay;
static const double kTopDiscDetectStart;
static const double kTopDiscDetectStop;
@@ -250,6 +253,9 @@
// Bottom disc detect from the last valid packet for detecting edges.
bool last_bottom_disc_detect_;
+ int32_t last_bottom_disc_posedge_count_;
+ int32_t last_bottom_disc_negedge_count_;
+ int32_t last_bottom_disc_negedge_wait_count_;
// Frisbees are in order such that the newest frisbee is on the front.
::std::deque<Frisbee> frisbees_;