commit 7b18415cf0c43573aaa07dc6c05d5db5f3eb4a02
author Jasmine Zhou <jasmine.zdn@gmail.com> Sat Sep 12 16:21:39 2015 -0700
committer Jasmine Zhou <jasmine.zdn@gmail.com> Sat Sep 12 16:25:16 2015 -0700
tree c7688203778a2e3e73ec9259aa5f992982951e78
parent da77c5f5b852e80b79e27dabf8d09a534e9203ee

Fixed plumbing for intake pistons.

Change-Id: Iac76cd83279f2a6ee6ac7367c3fd3972333d0865

bot3/control_loops/intake/intake.cc

diff --git a/bot3/control_loops/intake/intake.cc b/bot3/control_loops/intake/intake.cc
index 4788a7a..126e491 100644
--- a/bot3/control_loops/intake/intake.cc
+++ b/bot3/control_loops/intake/intake.cc
@@ -17,19 +17,7 @@
   if (output != nullptr) {
     output->Zero();
 
-    const int16_t intake_movement = goal->movement;
-
-    if (intake_movement > 0.0) {
-      // Suck.
-      output->intake = kIntakeVoltageFullPower;
-    } else if (intake_movement < 0.0) {
-      // Spit.
-      output->intake = -kIntakeVoltageFullPower;
-    } else {
-      // Stationary.
-      output->intake = 0.0;
-    }
-
+    output->intake = goal->movement;
     output->claw_closed = goal->claw_closed;
   }
 }

bot3/control_loops/intake/intake.q

diff --git a/bot3/control_loops/intake/intake.q b/bot3/control_loops/intake/intake.q
index c09bf87..70934b2 100644
--- a/bot3/control_loops/intake/intake.q
+++ b/bot3/control_loops/intake/intake.q
@@ -6,7 +6,7 @@
   implements aos.control_loops.ControlLoop;
 
   message Goal {
-    // Positive = suck, negative = spit, zero = stationary.
+    // Units: volts
     double movement;
 
     bool claw_closed;