commit 6591d5856ce80620bb5657c1f50ab8f5540e9f6f
author brians <brians@f308d9b7-e957-4cde-b6ac-9a88185e7312> Sun Mar 03 05:31:53 2013 +0000
committer brians <brians@f308d9b7-e957-4cde-b6ac-9a88185e7312> Sun Mar 03 05:31:53 2013 +0000
tree 5e4ec8b972e000083569d32d50441dc1ae6f4308
parent 759380a660857540d62b1be406c2eaf7f2e2d9c1

added support for test mode to the rest of the code

git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4180 f308d9b7-e957-4cde-b6ac-9a88185e7312

aos/atom_code/input/JoystickInput.cpp

diff --git a/aos/atom_code/input/JoystickInput.cpp b/aos/atom_code/input/JoystickInput.cpp
index 6aeca4b..8b3bc44 100644
--- a/aos/atom_code/input/JoystickInput.cpp
+++ b/aos/atom_code/input/JoystickInput.cpp
@@ -18,7 +18,8 @@
 
   buttons[0] |= (control_data_.enabled << (ENABLED - 9)) |
       (control_data_.autonomous << (AUTONOMOUS - 9)) |
-      (control_data_.fmsAttached << (FMS_ATTACHED - 9));
+      (control_data_.fmsAttached << (FMS_ATTACHED - 9)) |
+      (control_data_.test << (TEST_MODE - 9));
 
   for (int j = 0; j < 4; ++j) {
     for (int k = 1; k <= 12; ++k) {
@@ -36,6 +37,8 @@
   if (NegEdge(0, AUTONOMOUS)) LOG(INFO, "NegEdge(AUTONOMOUS)\n");
   if (PosEdge(0, FMS_ATTACHED)) LOG(INFO, "PosEdge(FMS_ATTACHED)\n");
   if (NegEdge(0, FMS_ATTACHED)) LOG(INFO, "NegEdge(FMS_ATTACHED)\n");
+  if (PosEdge(0, TEST_MODE)) LOG(INFO, "PosEdge(TEST_MODE)\n");
+  if (NegEdge(0, TEST_MODE)) LOG(INFO, "NegEdge(TEST_MODE)\n");
 }
 
 void JoystickInput::Run() {
@@ -46,9 +49,12 @@
       continue;
     }
     SetupButtons();
-    if (!robot_state.MakeWithBuilder().enabled(Pressed(0, ENABLED)).
-        autonomous(Pressed(0, AUTONOMOUS)).
-        team_id(ntohs(control_data_.teamID)).Send()) {
+    if (!robot_state.MakeWithBuilder()
+        .enabled(Pressed(0, ENABLED))
+        .autonomous(Pressed(0, AUTONOMOUS))
+        .test_mode(Pressed(0, TEST_MODE))
+        .team_id(ntohs(control_data_.teamID))
+        .Send()) {
 			LOG(WARNING, "sending robot_state failed\n");
 		}
 		if (robot_state.FetchLatest()) {