commit 7be49f3379c741586d56bcce732a96863bcf19f5
author Sabina Davis <sabina1109@gmail.com> Sat Feb 02 00:30:19 2019 -0800
committer Sabina Davis <sabina1109@gmail.com> Sat Feb 02 15:30:08 2019 -0800
tree eb07482215459b57b0d32b0ad2f222f99cc2100d
parent 450b4c8bf68435aeec8f2bacda50badeb4e496e5

Updated wpilib interface and constants.

Updated files for robot to handle drivetrain.

Change-Id: I6743c58b52027a4114b14032972a4f6e29a25cb3

y2019/wpilib_interface.cc

diff --git a/y2019/wpilib_interface.cc b/y2019/wpilib_interface.cc
index 9395489..ff5839f 100644
--- a/y2019/wpilib_interface.cc
+++ b/y2019/wpilib_interface.cc
@@ -40,12 +40,14 @@
 #include "frc971/wpilib/sensor_reader.h"
 #include "frc971/wpilib/wpilib_interface.h"
 #include "frc971/wpilib/wpilib_robot_base.h"
+#include "y2019/constants.h"
 
 #ifndef M_PI
 #define M_PI 3.14159265358979323846
 #endif
 
 using ::frc971::control_loops::drivetrain_queue;
+using ::y2019::constants::Values;
 using ::aos::monotonic_clock;
 namespace chrono = ::std::chrono;
 using aos::make_unique;
@@ -73,18 +75,18 @@
 }
 
 double drivetrain_translate(int32_t in) {
-  return ((static_cast<double>(in)
-           /* / Values::kDrivetrainEncoderCountsPerRevolution()) *
+  return ((static_cast<double>(in) /
+           Values::kDrivetrainEncoderCountsPerRevolution()) *
           (2.0 * M_PI)) *
          Values::kDrivetrainEncoderRatio() *
-         control_loops::drivetrain::kWheelRadius*/));
+         control_loops::drivetrain::kWheelRadius;
 }
 
 double drivetrain_velocity_translate(double in) {
-  return (((1.0 / in) /* / Values::kDrivetrainCyclesPerRevolution()) *
+  return (((1.0 / in) / Values::kDrivetrainCyclesPerRevolution()) *
           (2.0 * M_PI)) *
          Values::kDrivetrainEncoderRatio() *
-         control_loops::drivetrain::kWheelRadius*/));
+         control_loops::drivetrain::kWheelRadius;
 }
 
 constexpr double kMaxFastEncoderPulsesPerSecond =