Convert drivetrain mode from a bool to a number
This lets us support more than 2 drivetrain controller types in
perparation for splines.
Change-Id: I943d6073e6c5facae7223cc6111551a57b039a04
diff --git a/y2014/actors/drivetrain_actor.cc b/y2014/actors/drivetrain_actor.cc
index 6aec414..9bf98a2 100644
--- a/y2014/actors/drivetrain_actor.cc
+++ b/y2014/actors/drivetrain_actor.cc
@@ -125,7 +125,7 @@
left_goal_state(0, 0) + params.left_initial_position,
right_goal_state(0, 0) + params.right_initial_position);
::frc971::control_loops::drivetrain_queue.goal.MakeWithBuilder()
- .control_loop_driving(true)
+ .controller_type(1)
.highgear(true)
.left_goal(left_goal_state(0, 0) + params.left_initial_position)
.right_goal(right_goal_state(0, 0) + params.right_initial_position)
diff --git a/y2014/autonomous/auto.cc b/y2014/autonomous/auto.cc
index e5bd9bc..3ed2cd1 100644
--- a/y2014/autonomous/auto.cc
+++ b/y2014/autonomous/auto.cc
@@ -52,7 +52,7 @@
void StopDrivetrain() {
LOG(INFO, "Stopping the drivetrain\n");
frc971::control_loops::drivetrain_queue.goal.MakeWithBuilder()
- .control_loop_driving(true)
+ .controller_type(1)
.highgear(true)
.left_goal(left_initial_position)
.left_velocity_goal(0)
@@ -65,7 +65,7 @@
void ResetDrivetrain() {
LOG(INFO, "resetting the drivetrain\n");
::frc971::control_loops::drivetrain_queue.goal.MakeWithBuilder()
- .control_loop_driving(false)
+ .controller_type(0)
.highgear(true)
.wheel(0.0)
.throttle(0.0)
@@ -99,7 +99,7 @@
double right_goal = (right_initial_position + distance +
theta * control_loops::drivetrain::kRobotRadius);
::frc971::control_loops::drivetrain_queue.goal.MakeWithBuilder()
- .control_loop_driving(true)
+ .controller_type(1)
.highgear(true)
.left_goal(left_goal)
.right_goal(right_goal)
diff --git a/y2014/joystick_reader.cc b/y2014/joystick_reader.cc
index bc13be2..72c76ef 100644
--- a/y2014/joystick_reader.cc
+++ b/y2014/joystick_reader.cc
@@ -229,7 +229,7 @@
.throttle(throttle)
.highgear(is_high_gear_)
.quickturn(data.IsPressed(kQuickTurn))
- .control_loop_driving(is_control_loop_driving)
+ .controller_type(is_control_loop_driving ? 1 : 0)
.left_goal(left_goal)
.right_goal(right_goal)
.left_velocity_goal(0)