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
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>