commit b2c3338de4cc5b610a2cfcd00eb8f06968b3a26a
author Austin Schuh <austin.linux@gmail.com> Sun Apr 03 16:09:17 2016 -0700
committer Austin Schuh <austin.linux@gmail.com> Sun Apr 03 16:09:17 2016 -0700
tree b61a0d8ce8c4f62f044710f3e661ae7ce79cebc8
parent f0c057630eb08a838e82affa1fd9b0fa013a2dc6

Added forwards and backwards flash lights.

Change-Id: I813aeb1f300115e323d32823fbbca7d01a834d00

y2016/control_loops/shooter/shooter.cc

diff --git a/y2016/control_loops/shooter/shooter.cc b/y2016/control_loops/shooter/shooter.cc
index 0936eea..629b980 100644
--- a/y2016/control_loops/shooter/shooter.cc
+++ b/y2016/control_loops/shooter/shooter.cc
@@ -84,7 +84,17 @@
 
     // Turn the lights on if we are supposed to spin.
     if (output) {
-      if (::std::abs(goal->angular_velocity) > 0.0 || goal->force_lights_on) {
+      if (::std::abs(goal->angular_velocity) > 0.0) {
+        output->lights_on = true;
+        if (goal->shooting_forwards) {
+          output->forwards_flashlight = true;
+          output->backwards_flashlight = false;
+        } else {
+          output->forwards_flashlight = false;
+          output->backwards_flashlight = true;
+        }
+      }
+      if (goal->force_lights_on) {
         output->lights_on = true;
       }
     }

y2016/control_loops/shooter/shooter.q

diff --git a/y2016/control_loops/shooter/shooter.q b/y2016/control_loops/shooter/shooter.q
index b799b5a..0e00a02 100644
--- a/y2016/control_loops/shooter/shooter.q
+++ b/y2016/control_loops/shooter/shooter.q
@@ -31,6 +31,9 @@
 
     // Forces the lights on.
     bool force_lights_on;
+
+    // If true, the robot is shooting forwards.
+    bool shooting_forwards;
   };
 
   message Position {
@@ -65,6 +68,9 @@
 
     // If true, the lights are on.
     bool lights_on;
+
+    bool forwards_flashlight;
+    bool backwards_flashlight;
   };
 
   queue Goal goal;

y2016/joystick_reader.cc

diff --git a/y2016/joystick_reader.cc b/y2016/joystick_reader.cc
index 0023ac8..6706485 100644
--- a/y2016/joystick_reader.cc
+++ b/y2016/joystick_reader.cc
@@ -380,6 +380,7 @@
                .clamp_open(is_intaking_ || is_outtaking_)
                .push_to_shooter(fire_)
                .force_lights_on(force_lights_on)
+               .shooting_forwards(wrist_goal_ > 0)
                .Send()) {
         LOG(ERROR, "Sending shooter goal failed.\n");
       }

y2016/wpilib/wpilib_interface.cc

diff --git a/y2016/wpilib/wpilib_interface.cc b/y2016/wpilib/wpilib_interface.cc
index d169b42..b3ed0a8 100644
--- a/y2016/wpilib/wpilib_interface.cc
+++ b/y2016/wpilib/wpilib_interface.cc
@@ -499,7 +499,19 @@
           shooter_clamp_->Set(shooter_->clamp_open);
           shooter_pusher_->Set(shooter_->push_to_shooter);
           lights_->Set(shooter_->lights_on);
-          flashlight_->Set(shooter_->lights_on ? Relay::kForward : Relay::kOff);
+          if (shooter_->forwards_flashlight) {
+            if (shooter_->backwards_flashlight) {
+              flashlight_->Set(Relay::kOn);
+            } else {
+              flashlight_->Set(Relay::kReverse);
+            }
+          } else {
+            if (shooter_->backwards_flashlight) {
+              flashlight_->Set(Relay::kForward);
+            } else {
+              flashlight_->Set(Relay::kOff);
+            }
+          }
         }
       }