Hide control_loop() inside ControlLoop better
control_loop() is a depenency we want to remove when we convert to
event loops. We want to only use the queue group to hold strings.
Change-Id: I3f444cd505ebb1e448f050e08f416e0901ce8afb
diff --git a/y2014/control_loops/shooter/shooter.cc b/y2014/control_loops/shooter/shooter.cc
index e2f104c..f61cc02 100644
--- a/y2014/control_loops/shooter/shooter.cc
+++ b/y2014/control_loops/shooter/shooter.cc
@@ -699,12 +699,10 @@
status->shots = shot_count_;
}
-void ShooterMotor::ZeroOutputs() {
- queue_group()->output.MakeWithBuilder()
- .voltage(0)
- .latch_piston(latch_piston_)
- .brake_piston(brake_piston_)
- .Send();
+void ShooterMotor::Zero(::y2014::control_loops::ShooterQueue::Output *output) {
+ output->voltage = 0.0;
+ output->latch_piston = latch_piston_;
+ output->brake_piston = brake_piston_;
}
} // namespace control_loops