commit c52775425ea527288afa45d1efab2036be9bea60
author Brian Silverman <brians> Fri Mar 22 13:33:07 2013 -0700
committer Brian Silverman <brians> Sat Mar 30 16:35:12 2013 -0700
tree 523ca8984ac489d5deb90ebc81fdbfc007c6e805
parent 1c14af852cfa2595f81b717c3b74c681e3547157

modifications at Davis. SPLIT OUT LATER

frc971/control_loops/index/index.cc

diff --git a/frc971/control_loops/index/index.cc b/frc971/control_loops/index/index.cc
index bdcb8a3..df88a34 100644
--- a/frc971/control_loops/index/index.cc
+++ b/frc971/control_loops/index/index.cc
@@ -6,7 +6,6 @@
 
 #include "aos/aos_core.h"
 
-#include "aos/common/messages/RobotState.q.h"
 #include "aos/common/control_loop/control_loops.q.h"
 #include "aos/common/logging/logging.h"
 #include "aos/common/inttypes.h"
@@ -542,7 +541,8 @@
           }
 
           if (position->bottom_disc_detect) {
-            intake_voltage = transfer_voltage = 12.0;
+            intake_voltage = 0.0;
+            transfer_voltage = 12.0;
             // Must wait until the disc gets out before we can change state.
             safe_to_change_state = false;
 
@@ -585,7 +585,8 @@
         for (auto frisbee = frisbees_.begin();
              frisbee != frisbees_.end(); ++frisbee) {
           if (!frisbee->has_been_indexed_) {
-            intake_voltage = transfer_voltage = 12.0;
+            intake_voltage = 0.0;
+            transfer_voltage = 12.0;
 
             // All discs must be indexed before it is safe to stop indexing.
             safe_to_change_state = false;

frc971/control_loops/wrist/wrist.cc

diff --git a/frc971/control_loops/wrist/wrist.cc b/frc971/control_loops/wrist/wrist.cc
index 392e630..97a0cef 100644
--- a/frc971/control_loops/wrist/wrist.cc
+++ b/frc971/control_loops/wrist/wrist.cc
@@ -9,6 +9,7 @@
 #include "aos/common/messages/RobotState.q.h"
 #include "aos/common/control_loop/control_loops.q.h"
 #include "aos/common/logging/logging.h"
+#include "aos/atom_code/messages/DriverStationDisplay.h"
 
 #include "frc971/constants.h"
 #include "frc971/control_loops/wrist/wrist_motor_plant.h"
@@ -91,6 +92,9 @@
         position->pos,
         position->hall_effect ? "true" : "false",
         zeroed_joint_.absolute_position());
+
+    ::aos::DriverStationDisplay::Send(3, "wrist: %6.4f     ",
+                                      position->calibration);
   }
 
   if (output) {

frc971/control_loops/wrist/wrist.gyp

diff --git a/frc971/control_loops/wrist/wrist.gyp b/frc971/control_loops/wrist/wrist.gyp
index 6b50fad..bf3f906 100644
--- a/frc971/control_loops/wrist/wrist.gyp
+++ b/frc971/control_loops/wrist/wrist.gyp
@@ -33,6 +33,7 @@
         '<(AOS)/common/common.gyp:controls',
         '<(DEPTH)/frc971/frc971.gyp:common',
         '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
+        '<(AOS)/atom_code/messages/messages.gyp:messages',
       ],
       'export_dependent_settings': [
         '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',