commit b1a74ea53d20f6ad4b26ae0ff9388f0c8d766470
author Milind Upadhyay <milind.upadhyay@gmail.com> Wed Mar 09 20:34:35 2022 -0800
committer Milind Upadhyay <milind.upadhyay@gmail.com> Fri Mar 11 19:59:11 2022 -0800
tree 5960dfe6703d1d5b3ae70f76151776061ee8a27a
parent 14ddccf0a71b7ce7eebcd9072e5557209f7efbad

Add second transfer roller motor

Still use same behavior of always sending opposite voltages

Signed-off-by: Milind Upadhyay <milind.upadhyay@gmail.com>
Change-Id: If6bcf617db37b40924556d59dcfa23e7d43bdef1

y2022/actors/autonomous_actor.cc

diff --git a/y2022/actors/autonomous_actor.cc b/y2022/actors/autonomous_actor.cc
index ed1a9ee..67156dd 100644
--- a/y2022/actors/autonomous_actor.cc
+++ b/y2022/actors/autonomous_actor.cc
@@ -214,7 +214,10 @@
   superstructure_builder.add_roller_speed_compensation(1.5);
   superstructure_builder.add_roller_speed_front(roller_front_voltage_);
   superstructure_builder.add_roller_speed_back(roller_back_voltage_);
-  superstructure_builder.add_transfer_roller_speed(transfer_roller_voltage_);
+  superstructure_builder.add_transfer_roller_speed_front(
+      transfer_roller_front_voltage_);
+  superstructure_builder.add_transfer_roller_speed_back(
+      transfer_roller_back_voltage_);
   superstructure_builder.add_catapult(catapult_goal_offset);
   superstructure_builder.add_fire(fire_);
   superstructure_builder.add_auto_aim(true);
@@ -228,28 +231,32 @@
 void AutonomousActor::ExtendFrontIntake() {
   set_intake_front_goal(kExtendIntakeGoal);
   set_roller_front_voltage(kRollerVoltage);
-  set_transfer_roller_voltage(kRollerVoltage);
+  set_transfer_roller_front_voltage(kRollerVoltage);
+  set_transfer_roller_back_voltage(-kRollerVoltage);
   SendSuperstructureGoal();
 }
 
 void AutonomousActor::RetractFrontIntake() {
   set_intake_front_goal(kRetractIntakeGoal);
   set_roller_front_voltage(kRollerVoltage);
-  set_transfer_roller_voltage(0.0);
+  set_transfer_roller_front_voltage(0.0);
+  set_transfer_roller_back_voltage(0.0);
   SendSuperstructureGoal();
 }
 
 void AutonomousActor::ExtendBackIntake() {
   set_intake_back_goal(kExtendIntakeGoal);
   set_roller_back_voltage(kRollerVoltage);
-  set_transfer_roller_voltage(-kRollerVoltage);
+  set_transfer_roller_back_voltage(kRollerVoltage);
+  set_transfer_roller_front_voltage(-kRollerVoltage);
   SendSuperstructureGoal();
 }
 
 void AutonomousActor::RetractBackIntake() {
   set_intake_back_goal(kRetractIntakeGoal);
   set_roller_back_voltage(kRollerVoltage);
-  set_transfer_roller_voltage(0.0);
+  set_transfer_roller_front_voltage(0.0);
+  set_transfer_roller_back_voltage(0.0);
   SendSuperstructureGoal();
 }
 

y2022/actors/autonomous_actor.h

diff --git a/y2022/actors/autonomous_actor.h b/y2022/actors/autonomous_actor.h
index f01da02..37a8cdb 100644
--- a/y2022/actors/autonomous_actor.h
+++ b/y2022/actors/autonomous_actor.h
@@ -40,8 +40,11 @@
   void set_roller_back_voltage(double roller_back_voltage) {
     roller_back_voltage_ = roller_back_voltage;
   }
-  void set_transfer_roller_voltage(double voltage) {
-    transfer_roller_voltage_ = voltage;
+  void set_transfer_roller_front_voltage(double voltage) {
+    transfer_roller_front_voltage_ = voltage;
+  }
+  void set_transfer_roller_back_voltage(double voltage) {
+    transfer_roller_back_voltage_ = voltage;
   }
 
   void set_fire_at_will(bool fire) { fire_ = fire; }
@@ -62,7 +65,8 @@
   double intake_back_goal_ = 0.0;
   double roller_front_voltage_ = 0.0;
   double roller_back_voltage_ = 0.0;
-  double transfer_roller_voltage_ = 0.0;
+  double transfer_roller_front_voltage_ = 0.0;
+  double transfer_roller_back_voltage_ = 0.0;
   bool fire_ = false;
 
   aos::Sender<frc971::control_loops::drivetrain::LocalizerControl>