Autogen rules written for elevator module.
Put most things in the y2015 namespace since codegen wants to place
the controller gains in that namespace.
Change-Id: Ib3ef6eb38200bf0d80cba972cbe06ea366522ec6
diff --git a/y2015/control_loops/claw/claw.cc b/y2015/control_loops/claw/claw.cc
index ad8aaee..b4a5a7b 100644
--- a/y2015/control_loops/claw/claw.cc
+++ b/y2015/control_loops/claw/claw.cc
@@ -9,7 +9,7 @@
#include "y2015/control_loops/claw/claw_motor_plant.h"
#include "aos/common/util/trapezoid_profile.h"
-namespace frc971 {
+namespace y2015 {
namespace control_loops {
using ::aos::time::Time;
@@ -280,7 +280,8 @@
status->zeroed = state_ == RUNNING;
status->estopped = state_ == ESTOP;
status->state = state_;
- zeroing::PopulateEstimatorState(claw_estimator_, &status->zeroing_state);
+ ::frc971::zeroing::PopulateEstimatorState(claw_estimator_,
+ &status->zeroing_state);
status->angle = claw_loop_->X_hat(0, 0);
status->angular_velocity = claw_loop_->X_hat(1, 0);
@@ -311,4 +312,4 @@
}
} // namespace control_loops
-} // namespace frc971
+} // namespace y2015
diff --git a/y2015/control_loops/claw/claw.h b/y2015/control_loops/claw/claw.h
index 02e5398..58c3cc1 100644
--- a/y2015/control_loops/claw/claw.h
+++ b/y2015/control_loops/claw/claw.h
@@ -11,7 +11,7 @@
#include "y2015/control_loops/claw/claw_motor_plant.h"
#include "frc971/zeroing/zeroing.h"
-namespace frc971 {
+namespace y2015 {
namespace control_loops {
namespace testing {
class ClawTest_DisabledGoal_Test;
@@ -95,7 +95,7 @@
// Latest position from queue.
control_loops::ClawQueue::Position current_position_;
// Zeroing estimator for claw.
- zeroing::ZeroingEstimator claw_estimator_;
+ ::frc971::zeroing::ZeroingEstimator claw_estimator_;
// The goal for the claw.
double claw_goal_ = 0.0;
@@ -111,6 +111,6 @@
};
} // namespace control_loops
-} // namespace frc971
+} // namespace y2015
#endif // Y2015_CONTROL_LOOPS_CLAW_H_
diff --git a/y2015/control_loops/claw/claw.q b/y2015/control_loops/claw/claw.q
index 8da1c20..e1d444d 100644
--- a/y2015/control_loops/claw/claw.q
+++ b/y2015/control_loops/claw/claw.q
@@ -1,4 +1,4 @@
-package frc971.control_loops;
+package y2015.control_loops;
import "aos/common/controls/control_loops.q";
import "frc971/control_loops/control_loops.q";
@@ -28,7 +28,7 @@
};
message Position {
- PotAndIndexPosition joint;
+ .frc971.PotAndIndexPosition joint;
};
message Output {
@@ -49,7 +49,7 @@
bool estopped;
// The internal state of the claw state machine.
uint32_t state;
- EstimatorState zeroing_state;
+ .frc971.EstimatorState zeroing_state;
// Estimated angle of wrist joint.
double angle;
diff --git a/y2015/control_loops/claw/claw_lib_test.cc b/y2015/control_loops/claw/claw_lib_test.cc
index 6b3ad87..b38a2ee 100644
--- a/y2015/control_loops/claw/claw_lib_test.cc
+++ b/y2015/control_loops/claw/claw_lib_test.cc
@@ -15,7 +15,7 @@
using ::aos::time::Time;
-namespace frc971 {
+namespace y2015 {
namespace control_loops {
namespace testing {
@@ -28,11 +28,11 @@
: claw_plant_(new StateFeedbackPlant<2, 1, 1>(
y2015::control_loops::claw::MakeClawPlant())),
pot_and_encoder_(constants::GetValues().claw.zeroing.index_difference),
- claw_queue_(".frc971.control_loops.claw_queue", 0x9d7452fb,
- ".frc971.control_loops.claw_queue.goal",
- ".frc971.control_loops.claw_queue.position",
- ".frc971.control_loops.claw_queue.output",
- ".frc971.control_loops.claw_queue.status") {
+ claw_queue_(".y2015.control_loops.claw_queue", 0x9d7452fb,
+ ".y2015.control_loops.claw_queue.goal",
+ ".y2015.control_loops.claw_queue.position",
+ ".y2015.control_loops.claw_queue.output",
+ ".y2015.control_loops.claw_queue.status") {
InitializePosition(constants::GetValues().claw.wrist.lower_limit);
}
@@ -85,7 +85,7 @@
private:
::std::unique_ptr<StateFeedbackPlant<2, 1, 1>> claw_plant_;
- PositionSensorSimulator pot_and_encoder_;
+ ::frc971::control_loops::PositionSensorSimulator pot_and_encoder_;
ClawQueue claw_queue_;
};
@@ -93,14 +93,14 @@
class ClawTest : public ::aos::testing::ControlLoopTest {
protected:
ClawTest()
- : claw_queue_(".frc971.control_loops.claw_queue", 0x9d7452fb,
- ".frc971.control_loops.claw_queue.goal",
- ".frc971.control_loops.claw_queue.position",
- ".frc971.control_loops.claw_queue.output",
- ".frc971.control_loops.claw_queue.status"),
+ : claw_queue_(".y2015.control_loops.claw_queue", 0x9d7452fb,
+ ".y2015.control_loops.claw_queue.goal",
+ ".y2015.control_loops.claw_queue.position",
+ ".y2015.control_loops.claw_queue.output",
+ ".y2015.control_loops.claw_queue.status"),
claw_(&claw_queue_),
claw_plant_() {
- set_team_id(kTeamNumber);
+ set_team_id(::frc971::control_loops::testing::kTeamNumber);
}
void VerifyNearGoal() {
@@ -345,4 +345,4 @@
} // namespace testing
} // namespace control_loops
-} // namespace frc971
+} // namespace y2015
diff --git a/y2015/control_loops/claw/claw_main.cc b/y2015/control_loops/claw/claw_main.cc
index d1b869c..8b0c21f 100644
--- a/y2015/control_loops/claw/claw_main.cc
+++ b/y2015/control_loops/claw/claw_main.cc
@@ -4,7 +4,7 @@
int main() {
::aos::Init();
- frc971::control_loops::Claw claw;
+ y2015::control_loops::Claw claw;
claw.Run();
::aos::Cleanup();
return 0;
diff --git a/y2015/control_loops/claw/replay_claw.cc b/y2015/control_loops/claw/replay_claw.cc
index 50673e4..600ad99 100644
--- a/y2015/control_loops/claw/replay_claw.cc
+++ b/y2015/control_loops/claw/replay_claw.cc
@@ -14,8 +14,8 @@
::aos::InitNRT();
- ::aos::controls::ControlLoopReplayer<::frc971::control_loops::ClawQueue>
- replayer(&::frc971::control_loops::claw_queue, "claw");
+ ::aos::controls::ControlLoopReplayer<::y2015::control_loops::ClawQueue>
+ replayer(&::y2015::control_loops::claw_queue, "claw");
for (int i = 1; i < argc; ++i) {
replayer.ProcessFile(argv[i]);
}