commit d4fd655754976fd581ecf4721d58fa6c56adfa23
author Campbell Crowley <mail@campbellcrowley.com> Sun Feb 21 17:53:46 2016 -0800
committer Campbell Crowley <mail@campbellcrowley.com> Sun Feb 21 18:00:45 2016 -0800
tree 2fbd95138a33d3895b894d54b5e83c458d27386e
parent 9f77fd2fa3d522f050daedcc5217475872d11d4c

Added support for both sets of rollers

Change-Id: I93a0f01eefe15364b510bd09c5dfc15f4df26456

y2016/control_loops/superstructure/superstructure.cc

diff --git a/y2016/control_loops/superstructure/superstructure.cc b/y2016/control_loops/superstructure/superstructure.cc
index 759c5ca..140bf28 100644
--- a/y2016/control_loops/superstructure/superstructure.cc
+++ b/y2016/control_loops/superstructure/superstructure.cc
@@ -18,7 +18,8 @@
 constexpr double kOperatingVoltage = 12.0;
 constexpr double kLandingShoulderDownVoltage = -2.0;
 // The maximum voltage the intake roller will be allowed to use.
-constexpr float kMaxIntakeVoltage = 8.0;
+constexpr float kMaxIntakeTopVoltage = 8.0;
+constexpr float kMaxIntakeBottomVoltage = 8.0;
 
 // Aliases to reduce typing.
 constexpr double kIntakeEncoderIndexDifference =
@@ -568,11 +569,15 @@
     output->voltage_wrist = arm_.wrist_voltage();
 
     // Logic to run our rollers on the intake.
-    output->voltage_rollers = 0.0;
+    output->voltage_top_rollers = 0.0;
+    output->voltage_bottom_rollers = 0.0;
     if (unsafe_goal) {
-      output->voltage_rollers = ::std::max(
-          -kMaxIntakeVoltage,
-          ::std::min(unsafe_goal->voltage_rollers, kMaxIntakeVoltage));
+      output->voltage_top_rollers = ::std::max(
+          -kMaxIntakeTopVoltage,
+          ::std::min(unsafe_goal->voltage_top_rollers, kMaxIntakeTopVoltage));
+      output->voltage_bottom_rollers = ::std::max(
+          -kMaxIntakeBottomVoltage,
+          ::std::min(unsafe_goal->voltage_bottom_rollers, kMaxIntakeBottomVoltage));
     }
   }
 

y2016/control_loops/superstructure/superstructure.q

diff --git a/y2016/control_loops/superstructure/superstructure.q b/y2016/control_loops/superstructure/superstructure.q
index 1422dde..8a3b518 100644
--- a/y2016/control_loops/superstructure/superstructure.q
+++ b/y2016/control_loops/superstructure/superstructure.q
@@ -51,7 +51,8 @@
     float max_angular_acceleration_wrist;
 
     // Voltage to send to the rollers. Positive is sucking in.
-    float voltage_rollers;
+    float voltage_top_rollers;
+    float voltage_bottom_rollers;
   };
 
   message Status {
@@ -90,7 +91,8 @@
     float voltage_shoulder;
     float voltage_wrist;
 
-    float voltage_rollers;
+    float voltage_top_rollers;
+    float voltage_bottom_rollers;
   };
 
   queue Goal goal;