commit caa1ee9bd63acb172f0b9ead3715219cb8dd799a
author Austin Schuh <austin.linux@gmail.com> Sat Feb 27 14:45:37 2016 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Feb 27 14:45:37 2016 -0800
tree 7c816ef7f1027f0707a14314228486ba809aab93
parent eef41a5b006d0814707d5d1ecf7b40d3873c91d1

Fixed ports.

Change-Id: I9131c56d62ef254f67411a29245eb4e4041a645f

y2016/wpilib/BUILD

diff --git a/y2016/wpilib/BUILD b/y2016/wpilib/BUILD
index ff8722b..1571623 100644
--- a/y2016/wpilib/BUILD
+++ b/y2016/wpilib/BUILD
@@ -8,6 +8,7 @@
   deps = [
     '//aos/common:stl_mutex',
     '//aos/common/logging',
+    '//aos/common:math',
     '//aos/common/controls:control_loop',
     '//aos/common/util:log_interval',
     '//aos/common:time',

y2016/wpilib/wpilib_interface.cc

diff --git a/y2016/wpilib/wpilib_interface.cc b/y2016/wpilib/wpilib_interface.cc
index d791f8c..c7c493a 100644
--- a/y2016/wpilib/wpilib_interface.cc
+++ b/y2016/wpilib/wpilib_interface.cc
@@ -28,6 +28,7 @@
 #include "aos/common/stl_mutex.h"
 #include "aos/linux_code/init.h"
 #include "aos/common/messages/robot_state.q.h"
+#include "aos/common/commonmath.h"
 
 #include "frc971/control_loops/control_loops.q.h"
 #include "frc971/control_loops/drivetrain/drivetrain.q.h"
@@ -377,7 +378,7 @@
   SolenoidWriter(const ::std::unique_ptr<::frc971::wpilib::BufferedPcm> &pcm)
       : pcm_(pcm),
         drivetrain_(".frc971.control_loops.drivetrain_queue.output"),
-        shooter_(".y2016.control_loops.shooter_queue.output") {}
+        shooter_(".y2016.control_loops.shooter.shooter_queue.output") {}
 
   void set_compressor(::std::unique_ptr<Compressor> compressor) {
     compressor_ = ::std::move(compressor);
@@ -483,8 +484,8 @@
   virtual void Write() override {
     auto &queue = ::frc971::control_loops::drivetrain_queue.output;
     LOG_STRUCT(DEBUG, "will output", *queue);
-    drivetrain_left_talon_->Set(-queue->left_voltage / 12.0);
-    drivetrain_right_talon_->Set(queue->right_voltage / 12.0);
+    drivetrain_left_talon_->Set(queue->left_voltage / 12.0);
+    drivetrain_right_talon_->Set(-queue->right_voltage / 12.0);
   }
 
   virtual void Stop() override {
@@ -514,8 +515,9 @@
   virtual void Write() override {
     auto &queue = ::y2016::control_loops::shooter::shooter_queue.output;
     LOG_STRUCT(DEBUG, "will output", *queue);
+
     shooter_left_talon_->Set(queue->voltage_left / 12.0);
-    shooter_right_talon_->Set(queue->voltage_right / 12.0);
+    shooter_right_talon_->Set(-queue->voltage_right / 12.0);
   }
 
   virtual void Stop() override {
@@ -558,10 +560,10 @@
     auto &queue = ::y2016::control_loops::superstructure_queue.output;
     LOG_STRUCT(DEBUG, "will output", *queue);
     intake_talon_->Set(queue->voltage_intake / 12.0);
-    shoulder_talon_->Set(-queue->voltage_shoulder / 12.0);
-    wrist_talon_->Set(queue->voltage_wrist / 12.0);
-    top_rollers_talon_->Set(queue->voltage_top_rollers / 12.0);
-    bottom_rollers_talon_->Set(queue->voltage_bottom_rollers / 12.0);
+    shoulder_talon_->Set(::aos::Clip(-queue->voltage_shoulder, -6.0, 6.0) / 12.0);
+    wrist_talon_->Set(::aos::Clip(queue->voltage_wrist, -6.0, 6.0) / 12.0);
+    top_rollers_talon_->Set(-queue->voltage_top_rollers / 12.0);
+    bottom_rollers_talon_->Set(-queue->voltage_bottom_rollers / 12.0);
   }
 
   virtual void Stop() override {
@@ -642,19 +644,19 @@
     superstructure_writer.set_wrist_talon(
         ::std::unique_ptr<Talon>(new Talon(2)));
     superstructure_writer.set_top_rollers_talon(
-        ::std::unique_ptr<Talon>(new Talon(0)));
-    superstructure_writer.set_bottom_rollers_talon(
         ::std::unique_ptr<Talon>(new Talon(1)));
+    superstructure_writer.set_bottom_rollers_talon(
+        ::std::unique_ptr<Talon>(new Talon(0)));
     ::std::thread superstructure_writer_thread(
         ::std::ref(superstructure_writer));
 
     ::std::unique_ptr<::frc971::wpilib::BufferedPcm> pcm(
         new ::frc971::wpilib::BufferedPcm());
     SolenoidWriter solenoid_writer(pcm);
-    solenoid_writer.set_drivetrain_left(pcm->MakeSolenoid(6));
-    solenoid_writer.set_drivetrain_right(pcm->MakeSolenoid(7));
-    solenoid_writer.set_shooter_clamp(pcm->MakeSolenoid(6));
-    solenoid_writer.set_shooter_pusher(pcm->MakeSolenoid(7));
+    solenoid_writer.set_drivetrain_left(pcm->MakeSolenoid(1));
+    solenoid_writer.set_drivetrain_right(pcm->MakeSolenoid(0));
+    solenoid_writer.set_shooter_clamp(pcm->MakeSolenoid(4));
+    solenoid_writer.set_shooter_pusher(pcm->MakeSolenoid(5));
 
     solenoid_writer.set_compressor(make_unique<Compressor>());