commit 93778a6ac323ce097d1e30f60f6c4d9ebd91aed6
author joe <joe@icarus> Sat Feb 15 13:22:14 2014 -0800
committer joe <joe@icarus> Sat Feb 15 13:22:14 2014 -0800
tree 63e866ba6acc75f0dc68be29d74daa1dccc13c1f
parent 41abe01dd4544b73fb8fcea3901786393c67d73e

This stuff lets tests run

frc971/control_loops/shooter/shooter.cc

diff --git a/frc971/control_loops/shooter/shooter.cc b/frc971/control_loops/shooter/shooter.cc
index 56fd74b..b548365 100644
--- a/frc971/control_loops/shooter/shooter.cc
+++ b/frc971/control_loops/shooter/shooter.cc
@@ -1,4 +1,4 @@
-#include "frc971/control_loops/shooters/shooters.h"
+#include "frc971/control_loops/shooter/shooter.h"
 
 #include <stdio.h>
 
@@ -8,8 +8,7 @@
 #include "aos/common/logging/logging.h"
 
 #include "frc971/constants.h"
-#include "frc971/control_loops/shooters/top_shooter_motor_plant.h"
-#include "frc971/control_loops/shooters/bottom_shooter_motor_plant.h"
+#include "frc971/control_loops/shooter/shooter_motor_plant.h"
 
 namespace frc971 {
 namespace control_loops {
@@ -23,11 +22,10 @@
 
     config_data.lower_limit = GetValues().shooter_lower_limit;
     config_data.upper_limit = GetValues().shooter_upper_limit;
-    config_data.hall_effect_start_position[0] =
-        GetValues().shooter_hall_effect_start_position;
+    //config_data.hall_effect_start_position[0] =
+    //    GetValues().shooter_hall_effect_start_position;
     config_data.zeroing_off_speed = GetValues().shooter_zeroing_off_speed;
     config_data.zeroing_speed = GetValues().shooter_zeroing_speed;
-
     config_data.max_zeroing_voltage = 5.0;
     config_data.deadband_voltage = 0.0;
 
@@ -37,10 +35,10 @@
 
 // Positive is up, and positive power is up.
 void ShooterMotor::RunIteration(
-    const ::aos::control_loops::Goal *goal,
+    const ShooterLoop::Goal *goal,
     const control_loops::ShooterLoop::Position *position,
-    ::aos::control_loops::Output *output,
-    ::aos::control_loops::Status * status) {
+    ShooterLoop::Output *output,
+    ShooterLoop::Status * status) {
 
   // Disable the motors now so that all early returns will return with the
   // motors disabled.
@@ -54,9 +52,9 @@
   if (!position) {
     transformed_position_ptr = NULL;
   } else {
-    transformed_position.position = position->pos;
-    transformed_position.hall_effects[0] = position->hall_effect;
-    transformed_position.hall_effect_positions[0] = position->calibration;
+    //transformed_position.position = position->pos;
+    //transformed_position.hall_effects[0] = position->hall_effect;
+    //transformed_position.hall_effect_positions[0] = position->calibration;
   }
 
   const double voltage = zeroed_joint_.Update(transformed_position_ptr,
@@ -64,9 +62,9 @@
     goal->goal, 0.0);
 
   if (position) {
-    LOG(DEBUG, "pos: %f hall: %s absolute: %f\n",
-        position->pos,
-        position->hall_effect ? "true" : "false",
+    LOG(DEBUG, "pos:  hall:  absolute: %f\n",
+        //position->pos,
+        //position->hall_effect ? "true" : "false",
         zeroed_joint_.absolute_position());
   }