commit 8b89d33c62a277a60758f47f5826b5a065e5f8a0
author Austin Schuh <austin.linux@gmail.com> Thu Mar 24 20:19:12 2016 -0700
committer Austin Schuh <austin.linux@gmail.com> Sat Mar 26 19:43:23 2016 -0700
tree bd6b5fecf17e9cf82a1dc27afe7313a7fbf712e3
parent 5900b9f615b6bd53fb85361331623666b90c9b83

Added flashlight relay.

Change-Id: I1474935903a13277084f4ad67714dab72efa52da

y2016/wpilib/wpilib_interface.cc

diff --git a/y2016/wpilib/wpilib_interface.cc b/y2016/wpilib/wpilib_interface.cc
index 5567a75..8273bf9 100644
--- a/y2016/wpilib/wpilib_interface.cc
+++ b/y2016/wpilib/wpilib_interface.cc
@@ -10,6 +10,7 @@
 
 #include "Encoder.h"
 #include "Talon.h"
+#include "Relay.h"
 #include "DriverStation.h"
 #include "AnalogInput.h"
 #include "Compressor.h"
@@ -462,6 +463,10 @@
     lights_ = ::std::move(s);
   }
 
+  void set_flashlight(::std::unique_ptr<Relay> relay) {
+    flashlight_ = ::std::move(relay);
+  }
+
   void operator()() {
     compressor_->Start();
     ::aos::SetCurrentThreadName("Solenoids");
@@ -494,6 +499,7 @@
           shooter_clamp_->Set(shooter_->clamp_open);
           shooter_pusher_->Set(shooter_->push_to_shooter);
           lights_->Set(shooter_->lights_on);
+          flashlight_->Set(shooter_->lights_on ? Relay::kForward : Relay::kOff);
         }
       }
 
@@ -527,6 +533,7 @@
   ::std::unique_ptr<::frc971::wpilib::BufferedSolenoid> drivetrain_left_,
       drivetrain_right_, shooter_clamp_, shooter_pusher_, lights_, traverse_,
       traverse_latch_;
+  ::std::unique_ptr<Relay> flashlight_;
   ::std::unique_ptr<Compressor> compressor_;
 
   ::aos::Queue<::frc971::control_loops::DrivetrainQueue::Output> drivetrain_;
@@ -750,6 +757,7 @@
     solenoid_writer.set_shooter_clamp(pcm->MakeSolenoid(4));
     solenoid_writer.set_shooter_pusher(pcm->MakeSolenoid(5));
     solenoid_writer.set_lights(pcm->MakeSolenoid(6));
+    solenoid_writer.set_flashlight(make_unique<Relay>(0));
 
     solenoid_writer.set_compressor(make_unique<Compressor>());