commit cfb872f4ac630f394cb02aa2c61a90a7c7c69936
author Sabina Davis <sabina1109@gmail.com> Sun Feb 25 16:28:20 2018 -0800
committer Sabina Davis <sabina1109@gmail.com> Sat Mar 03 17:50:35 2018 -0800
tree 04e28082ec5794548fdd17ffe91ef3ce6cf3cead
parent 17dd089d6679e57156fe774c08c30b6ff877dc60

Simplified intake portions of superstructure queue.

Deleted IntakeOuput and IntakePosition as they are not needed.

Change-Id: Ib3e045596a7f9246f300a527d94ef7ab79e47b95

y2018/wpilib_interface.cc

diff --git a/y2018/wpilib_interface.cc b/y2018/wpilib_interface.cc
index dcbe314..6ccc6f9 100644
--- a/y2018/wpilib_interface.cc
+++ b/y2018/wpilib_interface.cc
@@ -438,27 +438,27 @@
                    values.arm_distal.potentiometer_offset);
 
       CopyPosition(left_intake_encoder_,
-                   &superstructure_message->intake.left.motor_position,
+                   &superstructure_message->left_intake.motor_position,
                    Values::kIntakeMotorEncoderCountsPerRevolution(),
                    Values::kIntakeMotorEncoderRatio(), intake_pot_translate,
                    false, values.left_intake.potentiometer_offset);
 
       CopyPosition(right_intake_encoder_,
-                   &superstructure_message->intake.right.motor_position,
+                   &superstructure_message->right_intake.motor_position,
                    Values::kIntakeMotorEncoderCountsPerRevolution(),
                    Values::kIntakeMotorEncoderRatio(), intake_pot_translate,
                    true, values.right_intake.potentiometer_offset);
 
-      superstructure_message->intake.left.spring_angle =
+      superstructure_message->left_intake.spring_angle =
           intake_spring_translate(left_intake_spring_angle_->GetVoltage()) +
           values.left_intake.spring_offset;
-      superstructure_message->intake.left.beam_break =
+      superstructure_message->left_intake.beam_break =
           left_intake_cube_detector_->Get();
 
-      superstructure_message->intake.right.spring_angle =
+      superstructure_message->right_intake.spring_angle =
           -intake_spring_translate(right_intake_spring_angle_->GetVoltage()) +
           values.right_intake.spring_offset;
-      superstructure_message->intake.right.beam_break =
+      superstructure_message->right_intake.beam_break =
           right_intake_cube_detector_->Get();
 
       superstructure_message.Send();
@@ -711,22 +711,22 @@
     LOG_STRUCT(DEBUG, "will output", *queue);
 
     left_intake_elastic_victor_->SetSpeed(
-        ::aos::Clip(-queue->intake.left.voltage_elastic, -kMaxBringupPower,
+        ::aos::Clip(-queue->left_intake.voltage_elastic, -kMaxBringupPower,
                     kMaxBringupPower) /
         12.0);
 
     right_intake_elastic_victor_->SetSpeed(
-        ::aos::Clip(queue->intake.right.voltage_elastic, -kMaxBringupPower,
+        ::aos::Clip(queue->right_intake.voltage_elastic, -kMaxBringupPower,
                     kMaxBringupPower) /
         12.0);
 
     left_intake_rollers_victor_->SetSpeed(
-        ::aos::Clip(-queue->intake.left.voltage_rollers, -kMaxBringupPower,
+        ::aos::Clip(-queue->left_intake.voltage_rollers, -kMaxBringupPower,
                     kMaxBringupPower) /
         12.0);
 
     right_intake_rollers_victor_->SetSpeed(
-        ::aos::Clip(queue->intake.right.voltage_rollers, -kMaxBringupPower,
+        ::aos::Clip(queue->right_intake.voltage_rollers, -kMaxBringupPower,
                     kMaxBringupPower) /
         12.0);