Move some DrivetrainConfig types to flatbuffers
This makes it so that we can start to implement the DrivetrainConfig as
a flatbuffer.
Change-Id: I69b92fcc436e82662d01a329d048a80c67267267
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2014/wpilib_interface.cc b/y2014/wpilib_interface.cc
index 016b17a..fd5e70e 100644
--- a/y2014/wpilib_interface.cc
+++ b/y2014/wpilib_interface.cc
@@ -76,13 +76,14 @@
float hall_translate(const constants::DualHallShifterHallEffect &k,
float in_low, float in_high) {
const float low_ratio =
- 0.5 * (in_low - static_cast<float>(k.shifter_hall_effect.low_gear_low)) /
- static_cast<float>(k.low_gear_middle -
- k.shifter_hall_effect.low_gear_low);
+ 0.5 *
+ (in_low - static_cast<float>(k.shifter_hall_effect().low_gear_low())) /
+ static_cast<float>(k.low_gear_middle() -
+ k.shifter_hall_effect().low_gear_low());
const float high_ratio =
- 0.5 + 0.5 * (in_high - static_cast<float>(k.high_gear_middle)) /
- static_cast<float>(k.shifter_hall_effect.high_gear_high -
- k.high_gear_middle);
+ 0.5 + 0.5 * (in_high - static_cast<float>(k.high_gear_middle())) /
+ static_cast<float>(k.shifter_hall_effect().high_gear_high() -
+ k.high_gear_middle());
// Return low when we are below 1/2, and high when we are above 1/2.
if (low_ratio + high_ratio < 1.0) {