commit a1dc3b28df7b9e7f90c82c931ded044405d42eb6
author Austin Schuh <austin.linux@gmail.com> Sun Apr 14 11:50:21 2019 -0700
committer Gerrit Code Review <gerrit@robotics.mvla.net> Sun Apr 14 11:50:21 2019 -0700
tree 0d157150c3a210d71d4f1319b5c772940bb7b353
parent b5e9f0d3ea4fba639fa703dfcfdb4b61804cd6d5
parent 5a543419bfa57c83b60e5dbc86a2b31c5496a7a9

Merge changes I76b08464,I4b76f566,Ic46b39e2

* changes:
  Add distance remaining to trajectory status
  Add slow-down button to pistol grip
  Rezero practice intake

aos/input/drivetrain_input.cc

diff --git a/aos/input/drivetrain_input.cc b/aos/input/drivetrain_input.cc
index 248f1ce..631f97d 100644
--- a/aos/input/drivetrain_input.cc
+++ b/aos/input/drivetrain_input.cc
@@ -170,6 +170,10 @@
     throttle = ::std::max(-1.0, throttle / 0.7);
   }
 
+  if (data.IsPressed(slow_down_)) {
+    throttle *= 0.5;
+  }
+
   if (!data.GetControlBit(ControlBit::kEnabled)) {
     high_gear_ = default_high_gear_;
   }
@@ -242,6 +246,7 @@
 
   const ButtonLocation TopButton(1, 1);
   const ButtonLocation SecondButton(1, 2);
+  const ButtonLocation BottomButton(1, 4);
   // Non-existant button for nops.
   const ButtonLocation DummyButton(1, 10);
 
@@ -264,7 +269,8 @@
           kWheelHigh, kWheelLow, kTriggerVelocityHigh, kTriggerVelocityLow,
           kTriggerTorqueHigh, kTriggerTorqueLow, kTriggerHigh, kTriggerLow,
           kWheelVelocityHigh, kWheelVelocityLow, kWheelTorqueHigh,
-          kWheelTorqueLow, kQuickTurn, kShiftHigh, kShiftLow, kTurn1, kTurn2));
+          kWheelTorqueLow, kQuickTurn, kShiftHigh, kShiftLow, kTurn1, kTurn2,
+          BottomButton));
 
   result->set_default_high_gear(default_high_gear);
   return result;

aos/input/drivetrain_input.h

diff --git a/aos/input/drivetrain_input.h b/aos/input/drivetrain_input.h
index f4b0212..ec52368 100644
--- a/aos/input/drivetrain_input.h
+++ b/aos/input/drivetrain_input.h
@@ -182,7 +182,8 @@
       driver_station::ButtonLocation shift_high,
       driver_station::ButtonLocation shift_low,
       driver_station::ButtonLocation turn1,
-      driver_station::ButtonLocation turn2)
+      driver_station::ButtonLocation turn2,
+      driver_station::ButtonLocation slow_down)
       : DrivetrainInputReader(wheel_high, throttle_high, quick_turn, turn1,
                               TurnButtonUse::kLineFollow, turn2,
                               TurnButtonUse::kControlLoopDriving),
@@ -197,7 +198,8 @@
         throttle_torque_high_(throttle_torque_high),
         throttle_torque_low_(throttle_torque_low),
         shift_high_(shift_high),
-        shift_low_(shift_low) {}
+        shift_low_(shift_low),
+        slow_down_(slow_down) {}
 
   WheelAndThrottle GetWheelAndThrottle(
       const ::aos::input::driver_station::Data &data) override;
@@ -222,6 +224,7 @@
 
   const driver_station::ButtonLocation shift_high_;
   const driver_station::ButtonLocation shift_low_;
+  const driver_station::ButtonLocation slow_down_;
 
   bool high_gear_;
   bool default_high_gear_;

frc971/control_loops/drivetrain/drivetrain.q

diff --git a/frc971/control_loops/drivetrain/drivetrain.q b/frc971/control_loops/drivetrain/drivetrain.q
index 939ad75..c6af732 100644
--- a/frc971/control_loops/drivetrain/drivetrain.q
+++ b/frc971/control_loops/drivetrain/drivetrain.q
@@ -63,6 +63,7 @@
   float theta;
   float left_velocity;
   float right_velocity;
+  float distance_remaining;
 };
 
 // For logging state of the line follower.

frc971/control_loops/drivetrain/splinedrivetrain.cc

diff --git a/frc971/control_loops/drivetrain/splinedrivetrain.cc b/frc971/control_loops/drivetrain/splinedrivetrain.cc
index 2eb434a..1f7e2b0 100644
--- a/frc971/control_loops/drivetrain/splinedrivetrain.cc
+++ b/frc971/control_loops/drivetrain/splinedrivetrain.cc
@@ -218,6 +218,9 @@
         (current_spline_idx_ != -1) && IsAtEnd();
     status->trajectory_logging.goal_spline_handle = current_spline_handle_;
     status->trajectory_logging.current_spline_idx = current_spline_idx_;
+    status->trajectory_logging.distance_remaining =
+        current_trajectory_ ? current_trajectory_->length() - current_xva_.x()
+                            : 0.0;
 
     int32_t planning_spline_idx = planning_spline_idx_;
     if (current_spline_idx_ == planning_spline_idx) {

y2019/constants.cc

diff --git a/y2019/constants.cc b/y2019/constants.cc
index 8872318..5f0469e 100644
--- a/y2019/constants.cc
+++ b/y2019/constants.cc
@@ -197,7 +197,7 @@
       elevator_params->zeroing_constants.measured_absolute_position = 0.131806;
       elevator->potentiometer_offset = -0.022320 + 0.020567 - 0.022355 - 0.006497 + 0.019690 + 0.009151 - 0.007513 + 0.007311;
 
-      intake->zeroing_constants.measured_absolute_position = 1.756847;
+      intake->zeroing_constants.measured_absolute_position = 1.928755;
 
       wrist_params->zeroing_constants.measured_absolute_position = 0.192576;
       wrist->potentiometer_offset = -4.200894 - 0.187134;