rename drivetrain queues to be consistent with everything else
Change-Id: Id79ada09bc12a53c0bca0e7b7654fb0384db7bd2
diff --git a/frc971/joystick_reader.cc b/frc971/joystick_reader.cc
index 6d2f1d4..5ca4fa1 100644
--- a/frc971/joystick_reader.cc
+++ b/frc971/joystick_reader.cc
@@ -16,7 +16,7 @@
#include "frc971/autonomous/auto.q.h"
#include "frc971/actions/action_client.h"
-using ::frc971::control_loops::drivetrain;
+using ::frc971::control_loops::drivetrain_queue;
using ::frc971::sensors::gyro_reading;
using ::aos::input::driver_station::ButtonLocation;
@@ -111,7 +111,7 @@
.Send();
} else if (!data.GetControlBit(ControlBit::kEnabled)) {
{
- auto goal = drivetrain.goal.MakeMessage();
+ auto goal = drivetrain_queue.goal.MakeMessage();
goal->Zero();
goal->control_loop_driving = false;
goal->left_goal = goal->right_goal = 0;
@@ -141,9 +141,10 @@
static double filtered_goal_distance = 0.0;
if (data.PosEdge(kDriveControlLoopEnable1) ||
data.PosEdge(kDriveControlLoopEnable2)) {
- if (drivetrain.position.FetchLatest() && gyro_reading.FetchLatest()) {
- distance = (drivetrain.position->left_encoder +
- drivetrain.position->right_encoder) /
+ if (drivetrain_queue.position.FetchLatest() &&
+ gyro_reading.FetchLatest()) {
+ distance = (drivetrain_queue.position->left_encoder +
+ drivetrain_queue.position->right_encoder) /
2.0 -
throttle * kThrottleGain / 2.0;
angle = gyro_reading->angle;
@@ -171,7 +172,7 @@
LOG(DEBUG, "Left goal %f Right goal %f\n", left_goal, right_goal);
}
- if (!drivetrain.goal.MakeWithBuilder()
+ if (!drivetrain_queue.goal.MakeWithBuilder()
.steering(wheel)
.throttle(throttle)
//.highgear(is_high_gear_)