Added superstructure and intake classes.
Created the superstucture, intake, and intake controller class,
had to alter some of the intake python and superstructure queue to fit.
Change-Id: Ieabcf288f6dd50c282a3bcb61ec13062f735872b
diff --git a/y2018/wpilib_interface.cc b/y2018/wpilib_interface.cc
index 0aa4203..292fef9 100644
--- a/y2018/wpilib_interface.cc
+++ b/y2018/wpilib_interface.cc
@@ -430,24 +430,24 @@
CopyPosition(proximal_encoder_, &superstructure_message->arm.proximal,
Values::kProximalEncoderCountsPerRevolution(),
Values::kProximalEncoderRatio(), proximal_pot_translate,
- false, values.proximal.pot_offset);
+ false, values.proximal.potentiometer_offset);
CopyPosition(distal_encoder_, &superstructure_message->arm.distal,
Values::kDistalEncoderCountsPerRevolution(),
Values::kDistalEncoderRatio(), distal_pot_translate, false,
- values.distal.pot_offset);
+ values.distal.potentiometer_offset);
CopyPosition(left_intake_encoder_,
&superstructure_message->intake.left.motor_position,
Values::kIntakeMotorEncoderCountsPerRevolution(),
Values::kIntakeMotorEncoderRatio(), intake_pot_translate,
- false, values.intake.left_pot_offset);
+ false, values.left_intake.potentiometer_offset);
CopyPosition(right_intake_encoder_,
&superstructure_message->intake.right.motor_position,
Values::kIntakeMotorEncoderCountsPerRevolution(),
Values::kIntakeMotorEncoderRatio(), intake_pot_translate,
- false, values.intake.right_pot_offset);
+ false, values.right_intake.potentiometer_offset);
superstructure_message->intake.left.spring_angle =
intake_spring_translate(left_intake_spring_angle_->GetVoltage());