Third robot bringup adjustments
Change-Id: I48d28520d4b7e068029b5a0fbb34ca93dbdc85d6
diff --git a/y2017_bot3/control_loops/drivetrain/drivetrain_base.cc b/y2017_bot3/control_loops/drivetrain/drivetrain_base.cc
index 9c3e66e..1926fe6 100644
--- a/y2017_bot3/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2017_bot3/control_loops/drivetrain/drivetrain_base.cc
@@ -19,7 +19,7 @@
const DrivetrainConfig &GetDrivetrainConfig() {
static DrivetrainConfig kDrivetrainConfig{
- ::frc971::control_loops::drivetrain::ShifterType::HALL_EFFECT_SHIFTER,
+ ::frc971::control_loops::drivetrain::ShifterType::SIMPLE_SHIFTER,
::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
::frc971::control_loops::drivetrain::GyroType::SPARTAN_GYRO,
diff --git a/y2017_bot3/control_loops/superstructure/superstructure.cc b/y2017_bot3/control_loops/superstructure/superstructure.cc
index 9cb069b..65dc0da 100644
--- a/y2017_bot3/control_loops/superstructure/superstructure.cc
+++ b/y2017_bot3/control_loops/superstructure/superstructure.cc
@@ -26,9 +26,9 @@
if (unsafe_goal) {
// Intake.
output->voltage_rollers = unsafe_goal->voltage_rollers;
-
+ // Fire piston to release gear.
output->fingers_out = unsafe_goal->fingers_out;
-
+ // Spin Hanger.
output->hanger_voltage = unsafe_goal->hanger_voltage;
}
}
diff --git a/y2017_bot3/control_loops/superstructure/superstructure.q b/y2017_bot3/control_loops/superstructure/superstructure.q
index 3de8f68..05249d2 100644
--- a/y2017_bot3/control_loops/superstructure/superstructure.q
+++ b/y2017_bot3/control_loops/superstructure/superstructure.q
@@ -37,4 +37,3 @@
};
queue_group SuperstructureQueue superstructure_queue;
-