Convert y2014 to y2016, and get the drivetrain running.
I made a y2016 folder based on what was in y2014. Right now, it only has
a drivetrain control loop, and all the constants are not up to date with
the current CAD design. Changes from y2014 can be viewed by comparing to
the BASE commit, since I put this commit on top of a dummy y2014 folder
renamed y2016. Hope this helps.
Change-Id: I3f1d1d1a14a99ac441c51b2a67cbade7cbd708ab
diff --git a/y2016/wpilib/BUILD b/y2016/wpilib/BUILD
index 120ff49..9521d74 100644
--- a/y2016/wpilib/BUILD
+++ b/y2016/wpilib/BUILD
@@ -6,15 +6,8 @@
'wpilib_interface.cc',
],
deps = [
- '//aos/linux_code:init',
'//aos/common:stl_mutex',
'//aos/common/logging',
- '//aos/externals:wpilib',
- '//y2014:constants',
- '//y2014/queues:auto_mode',
- '//frc971/control_loops/drivetrain:drivetrain_queue',
- '//y2014/control_loops/shooter:shooter_queue',
- '//y2014/control_loops/claw:claw_queue',
'//aos/common/controls:control_loop',
'//aos/common/util:log_interval',
'//aos/common:time',
@@ -22,6 +15,9 @@
'//aos/common/messages:robot_state',
'//aos/common/util:phased_loop',
'//aos/common/util:wrapping_counter',
+ '//aos/linux_code:init',
+ '//aos/externals:wpilib',
+ '//frc971/control_loops/drivetrain:drivetrain_queue',
'//frc971/wpilib:joystick_sender',
'//frc971/wpilib:loop_output_handler',
'//frc971/wpilib:buffered_pcm',
@@ -34,5 +30,6 @@
'//frc971/wpilib:logging_queue',
'//frc971/wpilib:wpilib_interface',
'//frc971/wpilib:pdp_fetcher',
+ '//y2016:constants',
],
)
diff --git a/y2016/wpilib/wpilib_interface.cc b/y2016/wpilib/wpilib_interface.cc
index 6442a2a..7bcf0bc 100644
--- a/y2016/wpilib/wpilib_interface.cc
+++ b/y2016/wpilib/wpilib_interface.cc
@@ -33,10 +33,7 @@
#include "frc971/shifter_hall_effect.h"
#include "frc971/control_loops/drivetrain/drivetrain.q.h"
-#include "y2014/control_loops/claw/claw.q.h"
-#include "y2014/control_loops/shooter/shooter.q.h"
-#include "y2014/constants.h"
-#include "y2014/queues/auto_mode.q.h"
+#include "y2016/constants.h"
#include "frc971/wpilib/joystick_sender.h"
#include "frc971/wpilib/loop_output_handler.h"
@@ -55,10 +52,8 @@
#endif
using ::frc971::control_loops::drivetrain_queue;
-using ::y2014::control_loops::claw_queue;
-using ::y2014::control_loops::shooter_queue;
-namespace y2014 {
+namespace y2016 {
namespace wpilib {
// TODO(Brian): Fix the interpretation of the result of GetRaw here and in the
@@ -73,8 +68,7 @@
}
double drivetrain_translate(int32_t in) {
- return -static_cast<double>(in) /
- (256.0 /*cpr*/ * 4.0 /*4x*/) *
+ return -static_cast<double>(in) / (256.0 /*cpr*/ * 4.0 /*4x*/) *
constants::GetValues().drivetrain_encoder_ratio *
(3.5 /*wheel diameter*/ * 2.54 / 100.0 * M_PI) * 2.0 / 2.0;
}
@@ -91,8 +85,9 @@
0.5 * (in_low - static_cast<float>(k.low_gear_low)) /
static_cast<float>(k.low_gear_middle - k.low_gear_low);
const float high_ratio =
- 0.5 + 0.5 * (in_high - static_cast<float>(k.high_gear_middle)) /
- static_cast<float>(k.high_gear_high - k.high_gear_middle);
+ 0.5 +
+ 0.5 * (in_high - static_cast<float>(k.high_gear_middle)) /
+ static_cast<float>(k.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) {
@@ -102,22 +97,11 @@
}
}
-double claw_translate(int32_t in) {
- return -static_cast<double>(in) / (256.0 /*cpr*/ * 4.0 /*quad*/) /
- (18.0 / 48.0 /*encoder gears*/) / (12.0 / 60.0 /*chain reduction*/) *
- (M_PI / 180.0) * 2.0;
-}
-
-double shooter_translate(int32_t in) {
- return static_cast<double>(in) / (256.0 /*cpr*/ * 4.0 /*quad*/) *
- 16 /*sprocket teeth*/ * 0.375 /*chain pitch*/
- * (2.54 / 100.0 /*in to m*/);
-}
-
+// TODO(constants): Update.
static const double kMaximumEncoderPulsesPerSecond =
5600.0 /* free speed RPM */ * 14.0 / 48.0 /* bottom gear reduction */ *
- 18.0 / 32.0 /* big belt reduction */ *
- 18.0 / 66.0 /* top gear reduction */ * 48.0 / 18.0 /* encoder gears */ /
+ 18.0 / 32.0 /* big belt reduction */ * 18.0 /
+ 66.0 /* top gear reduction */ * 48.0 / 18.0 /* encoder gears */ /
60.0 /* seconds / minute */ * 256.0 /* CPR */;
class SensorReader {
@@ -130,10 +114,6 @@
hall_filter_.SetPeriodNanoSeconds(100000);
}
- void set_auto_selector_analog(::std::unique_ptr<AnalogInput> analog) {
- auto_selector_analog_ = ::std::move(analog);
- }
-
void set_drivetrain_left_encoder(::std::unique_ptr<Encoder> encoder) {
drivetrain_left_encoder_ = ::std::move(encoder);
drivetrain_left_encoder_->SetMaxPeriod(0.005);
@@ -160,89 +140,13 @@
low_left_drive_hall_ = ::std::move(analog);
}
- void set_top_claw_encoder(::std::unique_ptr<Encoder> encoder) {
- encoder_filter_.Add(encoder.get());
- top_reader_.set_encoder(::std::move(encoder));
- }
-
- void set_top_claw_front_hall(::std::unique_ptr<DigitalInput> hall) {
- hall_filter_.Add(hall.get());
- top_reader_.set_front_hall(::std::move(hall));
- }
-
- void set_top_claw_calibration_hall(::std::unique_ptr<DigitalInput> hall) {
- hall_filter_.Add(hall.get());
- top_reader_.set_calibration_hall(::std::move(hall));
- }
-
- void set_top_claw_back_hall(::std::unique_ptr<DigitalInput> hall) {
- hall_filter_.Add(hall.get());
- top_reader_.set_back_hall(::std::move(hall));
- }
-
- void set_bottom_claw_encoder(::std::unique_ptr<Encoder> encoder) {
- encoder_filter_.Add(encoder.get());
- bottom_reader_.set_encoder(::std::move(encoder));
- }
-
- void set_bottom_claw_front_hall(::std::unique_ptr<DigitalInput> hall) {
- hall_filter_.Add(hall.get());
- bottom_reader_.set_front_hall(::std::move(hall));
- }
-
- void set_bottom_claw_calibration_hall(::std::unique_ptr<DigitalInput> hall) {
- hall_filter_.Add(hall.get());
- bottom_reader_.set_calibration_hall(::std::move(hall));
- }
-
- void set_bottom_claw_back_hall(::std::unique_ptr<DigitalInput> hall) {
- hall_filter_.Add(hall.get());
- bottom_reader_.set_back_hall(::std::move(hall));
- }
-
- void set_shooter_encoder(::std::unique_ptr<Encoder> encoder) {
- encoder_filter_.Add(encoder.get());
- shooter_encoder_ = ::std::move(encoder);
- }
-
- void set_shooter_proximal(::std::unique_ptr<DigitalInput> hall) {
- hall_filter_.Add(hall.get());
- shooter_proximal_ = ::std::move(hall);
- }
-
- void set_shooter_distal(::std::unique_ptr<DigitalInput> hall) {
- hall_filter_.Add(hall.get());
- shooter_distal_ = ::std::move(hall);
- }
-
- void set_shooter_plunger(::std::unique_ptr<DigitalInput> hall) {
- hall_filter_.Add(hall.get());
- shooter_plunger_ = ::std::move(hall);
- shooter_plunger_reader_ =
- make_unique<::frc971::wpilib::DMADigitalReader>(shooter_plunger_.get());
- }
-
- void set_shooter_latch(::std::unique_ptr<DigitalInput> hall) {
- hall_filter_.Add(hall.get());
- shooter_latch_ = ::std::move(hall);
- shooter_latch_reader_ =
- make_unique<::frc971::wpilib::DMADigitalReader>(shooter_latch_.get());
- }
-
// All of the DMA-related set_* calls must be made before this, and it doesn't
// hurt to do all of them.
- void set_dma(::std::unique_ptr<DMA> dma) {
- shooter_proximal_counter_ = make_unique<::frc971::wpilib::DMAEdgeCounter>(
- shooter_encoder_.get(), shooter_proximal_.get());
- shooter_distal_counter_ = make_unique<::frc971::wpilib::DMAEdgeCounter>(
- shooter_encoder_.get(), shooter_distal_.get());
+ // TODO(comran): Add 2016 things down below for dma synchronization.
+ void set_dma(::std::unique_ptr<DMA> dma) {
dma_synchronizer_.reset(
new ::frc971::wpilib::DMASynchronizer(::std::move(dma)));
- dma_synchronizer_->Add(shooter_proximal_counter_.get());
- dma_synchronizer_->Add(shooter_distal_counter_.get());
- dma_synchronizer_->Add(shooter_plunger_reader_.get());
- dma_synchronizer_->Add(shooter_latch_reader_.get());
}
void operator()() {
@@ -256,8 +160,6 @@
&DriverStation::GetInstance();
#endif
- top_reader_.Start();
- bottom_reader_.Start();
dma_synchronizer_->Start();
::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
@@ -273,9 +175,6 @@
}
RunIteration();
}
-
- top_reader_.Quit();
- bottom_reader_.Quit();
}
void RunIteration() {
@@ -310,140 +209,17 @@
drivetrain_message.Send();
}
- ::y2014::sensors::auto_mode.MakeWithBuilder()
- .voltage(auto_selector_analog_->GetVoltage())
- .Send();
-
dma_synchronizer_->RunIteration();
-
- {
- 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();
- CopyShooterPosedgeCounts(shooter_proximal_counter_.get(),
- &shooter_message->pusher_proximal);
- CopyShooterPosedgeCounts(shooter_distal_counter_.get(),
- &shooter_message->pusher_distal);
-
- shooter_message.Send();
- }
-
- {
- auto claw_message = claw_queue.position.MakeMessage();
- top_reader_.RunIteration(&claw_message->top);
- bottom_reader_.RunIteration(&claw_message->bottom);
-
- claw_message.Send();
- }
}
void Quit() { run_ = false; }
private:
- class HalfClawReader {
- public:
- HalfClawReader(bool reversed) : reversed_(reversed) {}
-
- void set_encoder(::std::unique_ptr<Encoder> encoder) {
- encoder_ = ::std::move(encoder);
- }
-
- void set_front_hall(::std::unique_ptr<DigitalInput> front_hall) {
- front_hall_ = ::std::move(front_hall);
- }
-
- void set_calibration_hall(
- ::std::unique_ptr<DigitalInput> calibration_hall) {
- calibration_hall_ = ::std::move(calibration_hall);
- }
-
- void set_back_hall(::std::unique_ptr<DigitalInput> back_hall) {
- back_hall_ = ::std::move(back_hall);
- }
-
- void Start() {
- front_counter_ = make_unique<::frc971::wpilib::EdgeCounter>(
- encoder_.get(), front_hall_.get());
- synchronizer_.Add(front_counter_.get());
- calibration_counter_ = make_unique<::frc971::wpilib::EdgeCounter>(
- encoder_.get(), calibration_hall_.get());
- synchronizer_.Add(calibration_counter_.get());
- back_counter_ = make_unique<::frc971::wpilib::EdgeCounter>(
- encoder_.get(), back_hall_.get());
- synchronizer_.Add(back_counter_.get());
- synchronized_encoder_ =
- make_unique<::frc971::wpilib::InterruptSynchronizedEncoder>(
- encoder_.get());
- synchronizer_.Add(synchronized_encoder_.get());
-
- synchronizer_.Start();
- }
-
- void Quit() { synchronizer_.Quit(); }
-
- void RunIteration(control_loops::HalfClawPosition *half_claw_position) {
- const double multiplier = reversed_ ? -1.0 : 1.0;
-
- synchronizer_.RunIteration();
-
- CopyPosition(front_counter_.get(), &half_claw_position->front);
- CopyPosition(calibration_counter_.get(),
- &half_claw_position->calibration);
- CopyPosition(back_counter_.get(), &half_claw_position->back);
- half_claw_position->position =
- multiplier * claw_translate(synchronized_encoder_->get());
- }
-
- private:
- void CopyPosition(const ::frc971::wpilib::EdgeCounter *counter,
- ::frc971::HallEffectStruct *out) {
- const double multiplier = reversed_ ? -1.0 : 1.0;
-
- 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());
- }
-
- ::frc971::wpilib::InterruptSynchronizer synchronizer_{55};
-
- ::std::unique_ptr<::frc971::wpilib::EdgeCounter> front_counter_;
- ::std::unique_ptr<::frc971::wpilib::EdgeCounter> calibration_counter_;
- ::std::unique_ptr<::frc971::wpilib::EdgeCounter> back_counter_;
- ::std::unique_ptr<::frc971::wpilib::InterruptSynchronizedEncoder>
- synchronized_encoder_;
-
- ::std::unique_ptr<Encoder> encoder_;
- ::std::unique_ptr<DigitalInput> front_hall_;
- ::std::unique_ptr<DigitalInput> calibration_hall_;
- ::std::unique_ptr<DigitalInput> back_hall_;
-
- const bool reversed_;
- };
-
- void CopyShooterPosedgeCounts(
- const ::frc971::wpilib::DMAEdgeCounter *counter,
- ::frc971::PosedgeOnlyCountedHallEffectStruct *output) {
- 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();
- output->negedge_count = counter->positive_count();
- output->posedge_value =
- shooter_translate(counter->last_negative_encoder_value());
- }
-
int32_t my_pid_;
DriverStation *ds_;
::std::unique_ptr<::frc971::wpilib::DMASynchronizer> dma_synchronizer_;
- ::std::unique_ptr<AnalogInput> auto_selector_analog_;
-
::std::unique_ptr<Encoder> drivetrain_left_encoder_;
::std::unique_ptr<Encoder> drivetrain_right_encoder_;
::std::unique_ptr<AnalogInput> low_left_drive_hall_;
@@ -451,16 +227,6 @@
::std::unique_ptr<AnalogInput> low_right_drive_hall_;
::std::unique_ptr<AnalogInput> high_right_drive_hall_;
- HalfClawReader top_reader_{false}, bottom_reader_{true};
-
- ::std::unique_ptr<Encoder> shooter_encoder_;
- ::std::unique_ptr<DigitalInput> shooter_proximal_, shooter_distal_;
- ::std::unique_ptr<DigitalInput> shooter_plunger_, shooter_latch_;
- ::std::unique_ptr<::frc971::wpilib::DMAEdgeCounter> shooter_proximal_counter_,
- shooter_distal_counter_;
- ::std::unique_ptr<::frc971::wpilib::DMADigitalReader> shooter_plunger_reader_,
- shooter_latch_reader_;
-
::std::atomic<bool> run_{true};
DigitalGlitchFilter encoder_filter_, hall_filter_;
};
@@ -469,7 +235,6 @@
public:
SolenoidWriter(const ::std::unique_ptr<::frc971::wpilib::BufferedPcm> &pcm)
: pcm_(pcm),
- shooter_(".y2014.control_loops.shooter_queue.output"),
drivetrain_(".frc971.control_loops.drivetrain_queue.output") {}
void set_pressure_switch(::std::unique_ptr<DigitalInput> pressure_switch) {
@@ -490,16 +255,6 @@
drivetrain_right_ = ::std::move(s);
}
- void set_shooter_latch(
- ::std::unique_ptr<::frc971::wpilib::BufferedSolenoid> s) {
- shooter_latch_ = ::std::move(s);
- }
-
- void set_shooter_brake(
- ::std::unique_ptr<::frc971::wpilib::BufferedSolenoid> s) {
- shooter_brake_ = ::std::move(s);
- }
-
void operator()() {
::aos::SetCurrentThreadName("Solenoids");
::aos::SetCurrentThreadRealtimePriority(27);
@@ -516,15 +271,6 @@
}
{
- shooter_.FetchLatest();
- if (shooter_.get()) {
- LOG_STRUCT(DEBUG, "solenoids", *shooter_);
- shooter_latch_->Set(!shooter_->latch_piston);
- shooter_brake_->Set(!shooter_->brake_piston);
- }
- }
-
- {
drivetrain_.FetchLatest();
if (drivetrain_.get()) {
LOG_STRUCT(DEBUG, "solenoids", *drivetrain_);
@@ -559,13 +305,10 @@
::std::unique_ptr<::frc971::wpilib::BufferedSolenoid> drivetrain_left_;
::std::unique_ptr<::frc971::wpilib::BufferedSolenoid> drivetrain_right_;
- ::std::unique_ptr<::frc971::wpilib::BufferedSolenoid> shooter_latch_;
- ::std::unique_ptr<::frc971::wpilib::BufferedSolenoid> shooter_brake_;
::std::unique_ptr<DigitalInput> pressure_switch_;
::std::unique_ptr<Relay> compressor_relay_;
- ::aos::Queue<::y2014::control_loops::ShooterQueue::Output> shooter_;
::aos::Queue<::frc971::control_loops::DrivetrainQueue::Output> drivetrain_;
::std::atomic<bool> run_{true};
@@ -603,91 +346,6 @@
::std::unique_ptr<Talon> right_drivetrain_talon_;
};
-class ShooterWriter : public ::frc971::wpilib::LoopOutputHandler {
- public:
- void set_shooter_talon(::std::unique_ptr<Talon> t) {
- shooter_talon_ = ::std::move(t);
- }
-
- private:
- virtual void Read() override {
- ::y2014::control_loops::shooter_queue.output.FetchAnother();
- }
-
- virtual void Write() override {
- auto &queue = ::y2014::control_loops::shooter_queue.output;
- LOG_STRUCT(DEBUG, "will output", *queue);
- shooter_talon_->Set(queue->voltage / 12.0);
- }
-
- virtual void Stop() override {
- LOG(WARNING, "shooter output too old\n");
- shooter_talon_->Disable();
- }
-
- ::std::unique_ptr<Talon> shooter_talon_;
-};
-
-class ClawWriter : public ::frc971::wpilib::LoopOutputHandler {
- public:
- void set_top_claw_talon(::std::unique_ptr<Talon> t) {
- top_claw_talon_ = ::std::move(t);
- }
-
- void set_bottom_claw_talon(::std::unique_ptr<Talon> t) {
- bottom_claw_talon_ = ::std::move(t);
- }
-
- void set_left_tusk_talon(::std::unique_ptr<Talon> t) {
- left_tusk_talon_ = ::std::move(t);
- }
-
- void set_right_tusk_talon(::std::unique_ptr<Talon> t) {
- right_tusk_talon_ = ::std::move(t);
- }
-
- void set_intake1_talon(::std::unique_ptr<Talon> t) {
- intake1_talon_ = ::std::move(t);
- }
-
- void set_intake2_talon(::std::unique_ptr<Talon> t) {
- intake2_talon_ = ::std::move(t);
- }
-
- private:
- virtual void Read() override {
- ::y2014::control_loops::claw_queue.output.FetchAnother();
- }
-
- virtual void Write() override {
- auto &queue = ::y2014::control_loops::claw_queue.output;
- LOG_STRUCT(DEBUG, "will output", *queue);
- intake1_talon_->Set(queue->intake_voltage / 12.0);
- intake2_talon_->Set(queue->intake_voltage / 12.0);
- bottom_claw_talon_->Set(-queue->bottom_claw_voltage / 12.0);
- top_claw_talon_->Set(queue->top_claw_voltage / 12.0);
- left_tusk_talon_->Set(queue->tusk_voltage / 12.0);
- right_tusk_talon_->Set(-queue->tusk_voltage / 12.0);
- }
-
- virtual void Stop() override {
- LOG(WARNING, "claw output too old\n");
- intake1_talon_->Disable();
- intake2_talon_->Disable();
- bottom_claw_talon_->Disable();
- top_claw_talon_->Disable();
- left_tusk_talon_->Disable();
- right_tusk_talon_->Disable();
- }
-
- ::std::unique_ptr<Talon> top_claw_talon_;
- ::std::unique_ptr<Talon> bottom_claw_talon_;
- ::std::unique_ptr<Talon> left_tusk_talon_;
- ::std::unique_ptr<Talon> right_tusk_talon_;
- ::std::unique_ptr<Talon> intake1_talon_;
- ::std::unique_ptr<Talon> intake2_talon_;
-};
-
class WPILibRobot : public ::frc971::wpilib::WPILibRobotBase {
public:
::std::unique_ptr<Encoder> make_encoder(int index) {
@@ -706,12 +364,7 @@
::std::thread pdp_fetcher_thread(::std::ref(pdp_fetcher));
SensorReader reader;
- // Create this first to make sure it ends up in one of the lower-numbered
- // FPGA slots so we can use it with DMA.
- auto shooter_encoder_temp = make_encoder(2);
-
- reader.set_auto_selector_analog(make_unique<AnalogInput>(4));
-
+ // TODO(constants): Update these input numbers.
reader.set_drivetrain_left_encoder(make_encoder(0));
reader.set_drivetrain_right_encoder(make_encoder(1));
reader.set_high_left_drive_hall(make_unique<AnalogInput>(1));
@@ -719,22 +372,6 @@
reader.set_high_right_drive_hall(make_unique<AnalogInput>(2));
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<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<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<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));
@@ -748,26 +385,11 @@
::std::unique_ptr<Talon>(new Talon(2)));
::std::thread drivetrain_writer_thread(::std::ref(drivetrain_writer));
- ::y2014::wpilib::ClawWriter claw_writer;
- claw_writer.set_top_claw_talon(::std::unique_ptr<Talon>(new Talon(1)));
- claw_writer.set_bottom_claw_talon(::std::unique_ptr<Talon>(new Talon(0)));
- claw_writer.set_left_tusk_talon(::std::unique_ptr<Talon>(new Talon(4)));
- claw_writer.set_right_tusk_talon(::std::unique_ptr<Talon>(new Talon(3)));
- claw_writer.set_intake1_talon(::std::unique_ptr<Talon>(new Talon(7)));
- claw_writer.set_intake2_talon(::std::unique_ptr<Talon>(new Talon(8)));
- ::std::thread claw_writer_thread(::std::ref(claw_writer));
-
- ::y2014::wpilib::ShooterWriter shooter_writer;
- shooter_writer.set_shooter_talon(::std::unique_ptr<Talon>(new Talon(6)));
- ::std::thread shooter_writer_thread(::std::ref(shooter_writer));
-
::std::unique_ptr<::frc971::wpilib::BufferedPcm> pcm(
new ::frc971::wpilib::BufferedPcm());
SolenoidWriter solenoid_writer(pcm);
solenoid_writer.set_drivetrain_left(pcm->MakeSolenoid(6));
solenoid_writer.set_drivetrain_right(pcm->MakeSolenoid(7));
- solenoid_writer.set_shooter_latch(pcm->MakeSolenoid(5));
- solenoid_writer.set_shooter_brake(pcm->MakeSolenoid(4));
solenoid_writer.set_pressure_switch(make_unique<DigitalInput>(25));
solenoid_writer.set_compressor_relay(make_unique<Relay>(0));
@@ -796,10 +418,6 @@
drivetrain_writer.Quit();
drivetrain_writer_thread.join();
- shooter_writer.Quit();
- shooter_writer_thread.join();
- claw_writer.Quit();
- claw_writer_thread.join();
solenoid_writer.Quit();
solenoid_thread.join();
@@ -808,7 +426,6 @@
};
} // namespace wpilib
-} // namespace y2014
+} // namespace y2016
-
-AOS_ROBOT_CLASS(::y2014::wpilib::WPILibRobot);
+AOS_ROBOT_CLASS(::y2016::wpilib::WPILibRobot);