Simplified intake portions of superstructure queue.
Deleted IntakeOuput and IntakePosition as they are not needed.
Change-Id: Ib3e045596a7f9246f300a527d94ef7ab79e47b95
diff --git a/y2018/control_loops/superstructure/superstructure.cc b/y2018/control_loops/superstructure/superstructure.cc
index 1c5a4e5..2cddf83 100644
--- a/y2018/control_loops/superstructure/superstructure.cc
+++ b/y2018/control_loops/superstructure/superstructure.cc
@@ -37,15 +37,15 @@
intake_left_.Iterate(unsafe_goal != nullptr
? &(unsafe_goal->intake.left_intake_angle)
: nullptr,
- &(position->intake.left),
- output != nullptr ? &(output->intake.left) : nullptr,
+ &(position->left_intake),
+ output != nullptr ? &(output->left_intake) : nullptr,
&(status->left_intake));
intake_right_.Iterate(unsafe_goal != nullptr
? &(unsafe_goal->intake.right_intake_angle)
: nullptr,
- &(position->intake.right),
- output != nullptr ? &(output->intake.right) : nullptr,
+ &(position->right_intake),
+ output != nullptr ? &(output->right_intake) : nullptr,
&(status->right_intake));
arm_.Iterate(
@@ -68,18 +68,18 @@
kMaxIntakeRollerVoltage));
constexpr int kReverseTime = 15;
if (unsafe_goal->intake.roller_voltage < 0.0) {
- output->intake.left.voltage_rollers = roller_voltage;
- output->intake.right.voltage_rollers = roller_voltage;
+ output->left_intake.voltage_rollers = roller_voltage;
+ output->right_intake.voltage_rollers = roller_voltage;
rotation_state_ = RotationState::NOT_ROTATING;
rotation_count_ = 0;
} else {
switch (rotation_state_) {
case RotationState::NOT_ROTATING:
- if (position->intake.left.beam_break) {
+ if (position->left_intake.beam_break) {
rotation_state_ = RotationState::ROTATING_RIGHT;
rotation_count_ = kReverseTime;
break;
- } else if (position->intake.right.beam_break) {
+ } else if (position->right_intake.beam_break) {
rotation_state_ = RotationState::ROTATING_LEFT;
rotation_count_ = kReverseTime;
break;
@@ -87,7 +87,7 @@
break;
}
case RotationState::ROTATING_LEFT:
- if (position->intake.right.beam_break) {
+ if (position->right_intake.beam_break) {
rotation_count_ = kReverseTime;
} else {
--rotation_count_;
@@ -97,7 +97,7 @@
}
break;
case RotationState::ROTATING_RIGHT:
- if (position->intake.left.beam_break) {
+ if (position->left_intake.beam_break) {
rotation_count_ = kReverseTime;
} else {
--rotation_count_;
@@ -110,16 +110,16 @@
switch (rotation_state_) {
case RotationState::NOT_ROTATING:
- output->intake.left.voltage_rollers = roller_voltage;
- output->intake.right.voltage_rollers = roller_voltage;
+ output->left_intake.voltage_rollers = roller_voltage;
+ output->right_intake.voltage_rollers = roller_voltage;
break;
case RotationState::ROTATING_LEFT:
- output->intake.left.voltage_rollers = roller_voltage;
- output->intake.right.voltage_rollers = -roller_voltage;
+ output->left_intake.voltage_rollers = roller_voltage;
+ output->right_intake.voltage_rollers = -roller_voltage;
break;
case RotationState::ROTATING_RIGHT:
- output->intake.left.voltage_rollers = -roller_voltage;
- output->intake.right.voltage_rollers = roller_voltage;
+ output->left_intake.voltage_rollers = -roller_voltage;
+ output->right_intake.voltage_rollers = roller_voltage;
break;
}
}