commit da77c5f5b852e80b79e27dabf8d09a534e9203ee
author Jasmine Zhou <jasmine.zdn@gmail.com> Sat Sep 12 15:16:10 2015 -0700
committer Jasmine Zhou <jasmine.zdn@gmail.com> Sat Sep 12 15:46:40 2015 -0700
tree 05a21780c125a531953214ade50c9c58300d25f9
parent e140e383c7fa9787f83d20515d3f7c7487bf3220

Added plumbing for piston values through elevator/intake code.

Change-Id: I786fbc1411bc26063a7b03ea5428297317d21daa

bot3/control_loops/intake/intake.cc

diff --git a/bot3/control_loops/intake/intake.cc b/bot3/control_loops/intake/intake.cc
index 935730b..4788a7a 100644
--- a/bot3/control_loops/intake/intake.cc
+++ b/bot3/control_loops/intake/intake.cc
@@ -19,16 +19,18 @@
 
     const int16_t intake_movement = goal->movement;
 
-    if (intake_movement > 0) {
+    if (intake_movement > 0.0) {
       // Suck.
       output->intake = kIntakeVoltageFullPower;
-    } else if (intake_movement < 0) {
+    } else if (intake_movement < 0.0) {
       // Spit.
       output->intake = -kIntakeVoltageFullPower;
     } else {
       // Stationary.
       output->intake = 0.0;
     }
+
+    output->claw_closed = goal->claw_closed;
   }
 }
 

bot3/control_loops/intake/intake.q

diff --git a/bot3/control_loops/intake/intake.q b/bot3/control_loops/intake/intake.q
index 3047f6b..c09bf87 100644
--- a/bot3/control_loops/intake/intake.q
+++ b/bot3/control_loops/intake/intake.q
@@ -7,13 +7,18 @@
 
   message Goal {
     // Positive = suck, negative = spit, zero = stationary.
-    int16_t movement;
+    double movement;
+
+    bool claw_closed;
   };
 
   message Position {};
 
   message Output {
+    // Positive or negative, depending on whether we're sucking or spitting.
     double intake;
+
+    bool claw_closed;
   };
 
   message Status {};