rename drivetrain queues to be consistent with everything else
Change-Id: Id79ada09bc12a53c0bca0e7b7654fb0384db7bd2
diff --git a/frc971/autonomous/auto.cc b/frc971/autonomous/auto.cc
index e1cfddc..aa63eb8 100644
--- a/frc971/autonomous/auto.cc
+++ b/frc971/autonomous/auto.cc
@@ -34,7 +34,7 @@
void StopDrivetrain() {
LOG(INFO, "Stopping the drivetrain\n");
- control_loops::drivetrain.goal.MakeWithBuilder()
+ control_loops::drivetrain_queue.goal.MakeWithBuilder()
.control_loop_driving(true)
.left_goal(left_initial_position)
.left_velocity_goal(0)
@@ -46,7 +46,7 @@
void ResetDrivetrain() {
LOG(INFO, "resetting the drivetrain\n");
- control_loops::drivetrain.goal.MakeWithBuilder()
+ control_loops::drivetrain_queue.goal.MakeWithBuilder()
.control_loop_driving(false)
//.highgear(false)
.steering(0.0)
@@ -83,7 +83,7 @@
LOG(DEBUG, "Driving left to %f, right to %f\n",
left_initial_position - driveTrainState(0, 0),
right_initial_position + driveTrainState(0, 0));
- control_loops::drivetrain.goal.MakeWithBuilder()
+ control_loops::drivetrain_queue.goal.MakeWithBuilder()
.control_loop_driving(true)
//.highgear(false)
.left_goal(left_initial_position - driveTrainState(0, 0))
@@ -128,17 +128,16 @@
}
void InitializeEncoders() {
- control_loops::drivetrain.status.FetchLatest();
- while (!control_loops::drivetrain.status.get()) {
+ control_loops::drivetrain_queue.status.FetchLatest();
+ while (!control_loops::drivetrain_queue.status.get()) {
LOG(WARNING,
"No previous drivetrain position packet, trying to fetch again\n");
- control_loops::drivetrain.status.FetchNextBlocking();
+ control_loops::drivetrain_queue.status.FetchNextBlocking();
}
left_initial_position =
- control_loops::drivetrain.status->filtered_left_position;
+ control_loops::drivetrain_queue.status->filtered_left_position;
right_initial_position =
- control_loops::drivetrain.status->filtered_right_position;
-
+ control_loops::drivetrain_queue.status->filtered_right_position;
}
void HandleAuto() {
diff --git a/frc971/autonomous/autonomous.gyp b/frc971/autonomous/autonomous.gyp
index 98c1ee8..4dd0320 100644
--- a/frc971/autonomous/autonomous.gyp
+++ b/frc971/autonomous/autonomous.gyp
@@ -18,7 +18,7 @@
'dependencies': [
'auto_queue',
'<(AOS)/common/controls/controls.gyp:control_loop',
- '<(DEPTH)/frc971/control_loops/drivetrain/drivetrain.gyp:drivetrain_loop',
+ '<(DEPTH)/frc971/control_loops/drivetrain/drivetrain.gyp:drivetrain_queue',
'<(DEPTH)/frc971/frc971.gyp:constants',
'<(AOS)/common/common.gyp:time',
'<(AOS)/common/util/util.gyp:phased_loop',