commit 907cad36ece3de47574c470a6f9451a98d6ad1fc
author Austin Schuh <austin.linux@gmail.com> Fri Feb 24 20:52:16 2017 -0800
committer Gerrit Code Review <gerrit@robotics.mvla.net> Fri Feb 24 20:52:16 2017 -0800
tree d6f119c28b198b9ca50f04055d785ae5acd870dd
parent 55e2422a7ee97848415752fc990d29cd9ccb9888
parent 7ba8f1acf49fe3bb696cd93381c6906fd71201b0

Merge "Move the sensors to offset 0"

y2017/BUILD

diff --git a/y2017/BUILD b/y2017/BUILD
index 215b400..7d231dd 100644
--- a/y2017/BUILD
+++ b/y2017/BUILD
@@ -48,7 +48,6 @@
     '//frc971/wpilib:joystick_sender',
     '//frc971/wpilib:loop_output_handler',
     '//frc971/wpilib:buffered_pcm',
-    '//frc971/wpilib:gyro_sender',
     '//frc971/wpilib:dma_edge_counting',
     '//frc971/wpilib:interrupt_edge_counting',
     '//frc971/wpilib:wpilib_robot_base',

y2017/control_loops/superstructure/hood/hood.h

diff --git a/y2017/control_loops/superstructure/hood/hood.h b/y2017/control_loops/superstructure/hood/hood.h
index c58e005..9c25cb9 100644
--- a/y2017/control_loops/superstructure/hood/hood.h
+++ b/y2017/control_loops/superstructure/hood/hood.h
@@ -31,8 +31,8 @@
   }
 
   // The zeroing and operating voltages.
-  static constexpr double kZeroingVoltage = 2.5;
-  static constexpr double kOperatingVoltage = 12.0;
+  static constexpr double kZeroingVoltage = 2.0;
+  static constexpr double kOperatingVoltage = 3.0;
 
   void Iterate(const control_loops::HoodGoal *unsafe_goal,
                const ::frc971::IndexPosition *position, double *output,

y2017/wpilib_interface.cc

diff --git a/y2017/wpilib_interface.cc b/y2017/wpilib_interface.cc
index 175e581..abddd86 100644
--- a/y2017/wpilib_interface.cc
+++ b/y2017/wpilib_interface.cc
@@ -42,7 +42,6 @@
 #include "frc971/wpilib/loop_output_handler.h"
 #include "frc971/wpilib/buffered_solenoid.h"
 #include "frc971/wpilib/buffered_pcm.h"
-#include "frc971/wpilib/gyro_sender.h"
 #include "frc971/wpilib/dma_edge_counting.h"
 #include "frc971/wpilib/interrupt_edge_counting.h"
 #include "frc971/wpilib/encoder_and_potentiometer.h"
@@ -454,8 +453,8 @@
   virtual void Write() override {
     auto &queue = ::frc971::control_loops::drivetrain_queue.output;
     LOG_STRUCT(DEBUG, "will output", *queue);
-    drivetrain_left_victor_->SetSpeed(queue->left_voltage / 12.0);
-    drivetrain_right_victor_->SetSpeed(-queue->right_voltage / 12.0);
+    drivetrain_left_victor_->SetSpeed(-queue->left_voltage / 12.0);
+    drivetrain_right_victor_->SetSpeed(queue->right_voltage / 12.0);
   }
 
   virtual void Stop() override {
@@ -508,7 +507,7 @@
     indexer_victor_->SetSpeed(queue->voltage_indexer / 12.0);
     indexer_roller_victor_->SetSpeed(queue->voltage_indexer_rollers /
                                         12.0);
-    turret_victor_->SetSpeed(::aos::Clip(queue->voltage_turret,
+    turret_victor_->SetSpeed(::aos::Clip(-queue->voltage_turret,
                                          -kMaxBringupPower, kMaxBringupPower) /
                              12.0);
     hood_victor_->SetSpeed(
@@ -578,10 +577,7 @@
     reader.set_dma(make_unique<DMA>());
     ::std::thread reader_thread(::std::ref(reader));
 
-    ::frc971::wpilib::GyroSender gyro_sender;
-    ::std::thread gyro_thread(::std::ref(gyro_sender));
-
-    auto imu_trigger = make_unique<DigitalInput>(5);
+    auto imu_trigger = make_unique<DigitalInput>(3);
     ::frc971::wpilib::ADIS16448 imu(SPI::Port::kOnboardCS1, imu_trigger.get());
     ::std::thread imu_thread(::std::ref(imu));
 
@@ -628,8 +624,6 @@
     pdp_fetcher_thread.join();
     reader.Quit();
     reader_thread.join();
-    gyro_sender.Quit();
-    gyro_thread.join();
     imu.Quit();
     imu_thread.join();