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/wpilib/wpilib_interface.cc b/y2015/wpilib/wpilib_interface.cc
index 7accc92..a6dab4d 100644
--- a/y2015/wpilib/wpilib_interface.cc
+++ b/y2015/wpilib/wpilib_interface.cc
@@ -55,11 +55,21 @@
#endif
using ::aos::util::SimpleLogInterval;
+using ::frc971::PotAndIndexPosition;
using ::frc971::control_loops::drivetrain_queue;
-using ::frc971::control_loops::fridge_queue;
-using ::frc971::control_loops::claw_queue;
+using ::frc971::wpilib::BufferedPcm;
+using ::frc971::wpilib::BufferedSolenoid;
+using ::frc971::wpilib::DMAEncoderAndPotentiometer;
+using ::frc971::wpilib::DMASynchronizer;
+using ::frc971::wpilib::GyroSender;
+using ::frc971::wpilib::InterruptEncoderAndPotentiometer;
+using ::frc971::wpilib::JoystickSender;
+using ::frc971::wpilib::LoopOutputHandler;
+using ::frc971::wpilib::PneumaticsToLog;
+using ::y2015::control_loops::claw_queue;
+using ::y2015::control_loops::fridge::fridge_queue;
-namespace frc971 {
+namespace y2015 {
namespace wpilib {
double drivetrain_translate(int32_t in) {
@@ -373,8 +383,8 @@
public:
SolenoidWriter(const ::std::unique_ptr<BufferedPcm> &pcm)
: pcm_(pcm),
- fridge_(".frc971.control_loops.fridge_queue.output"),
- claw_(".frc971.control_loops.claw_queue.output") {}
+ fridge_(".y2015.control_loops.fridge.fridge_queue.output"),
+ claw_(".y2015.control_loops.claw_queue.output") {}
void set_pressure_switch(::std::unique_ptr<DigitalInput> pressure_switch) {
pressure_switch_ = ::std::move(pressure_switch);
@@ -487,8 +497,8 @@
::std::unique_ptr<DigitalInput> pressure_switch_;
::std::unique_ptr<Relay> compressor_relay_;
- ::aos::Queue<::frc971::control_loops::FridgeQueue::Output> fridge_;
- ::aos::Queue<::frc971::control_loops::ClawQueue::Output> claw_;
+ ::aos::Queue<::y2015::control_loops::fridge::FridgeQueue::Output> fridge_;
+ ::aos::Queue<::y2015::control_loops::ClawQueue::Output> claw_;
::std::atomic<bool> run_{true};
};
@@ -503,11 +513,11 @@
private:
virtual void Read() override {
- ::frc971::autonomous::can_control.FetchAnother();
+ ::y2015::autonomous::can_control.FetchAnother();
}
virtual void Write() override {
- auto &queue = ::frc971::autonomous::can_control;
+ auto &queue = ::y2015::autonomous::can_control;
LOG_STRUCT(DEBUG, "will output", *queue);
can_talon_->Set(queue->can_voltage / 12.0);
}
@@ -572,11 +582,11 @@
private:
virtual void Read() override {
- ::frc971::control_loops::fridge_queue.output.FetchAnother();
+ ::y2015::control_loops::fridge::fridge_queue.output.FetchAnother();
}
virtual void Write() override {
- auto &queue = ::frc971::control_loops::fridge_queue.output;
+ auto &queue = ::y2015::control_loops::fridge::fridge_queue.output;
LOG_STRUCT(DEBUG, "will output", *queue);
left_arm_talon_->Set(queue->left_arm / 12.0);
right_arm_talon_->Set(-queue->right_arm / 12.0);
@@ -614,11 +624,11 @@
private:
virtual void Read() override {
- ::frc971::control_loops::claw_queue.output.FetchAnother();
+ ::y2015::control_loops::claw_queue.output.FetchAnother();
}
virtual void Write() override {
- auto &queue = ::frc971::control_loops::claw_queue.output;
+ auto &queue = ::y2015::control_loops::claw_queue.output;
LOG_STRUCT(DEBUG, "will output", *queue);
left_intake_talon_->Set(queue->intake_voltage / 12.0);
right_intake_talon_->Set(-queue->intake_voltage / 12.0);
@@ -770,7 +780,7 @@
};
} // namespace wpilib
-} // namespace frc971
+} // namespace y2015
-AOS_ROBOT_CLASS(::frc971::wpilib::WPILibRobot);
+AOS_ROBOT_CLASS(::y2015::wpilib::WPILibRobot);