commit e0729a689ca49ea9ecad20c1581d1c6cfe3e5e7f
author Austin Schuh <austin.linux@gmail.com> Sat Mar 12 21:54:17 2016 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Mar 12 23:02:15 2016 -0800
tree 8ccd6a8c1384350771da8737aa8549c830aa8e66
parent d7e2994d3a6dc52456915f83fd999b6e2485ae3b

Lights turn on when shooter is on.

Change-Id: I434dc4a3eecd2fc3b96e954831cedaba8d8ee4e4

y2016/control_loops/shooter/shooter.cc

diff --git a/y2016/control_loops/shooter/shooter.cc b/y2016/control_loops/shooter/shooter.cc
index 2f1ae4a..699903d 100644
--- a/y2016/control_loops/shooter/shooter.cc
+++ b/y2016/control_loops/shooter/shooter.cc
@@ -80,6 +80,13 @@
     // Update position/goal for our two shooter sides.
     left_.set_goal(goal->angular_velocity);
     right_.set_goal(goal->angular_velocity);
+
+    // Turn the lights on if we are supposed to spin.
+    if (output) {
+      if (::std::abs(goal->angular_velocity) > 0.0) {
+        output->lights_on = true;
+      }
+    }
   }
 
   left_.set_position(position->theta_left);

y2016/control_loops/shooter/shooter.q

diff --git a/y2016/control_loops/shooter/shooter.q b/y2016/control_loops/shooter/shooter.q
index 5559bbb..00149a8 100644
--- a/y2016/control_loops/shooter/shooter.q
+++ b/y2016/control_loops/shooter/shooter.q
@@ -55,6 +55,9 @@
     // See comments on the identical fields in Goal for details.
     bool clamp_open;
     bool push_to_shooter;
+
+    // If true, the lights are on.
+    bool lights_on;
   };
 
   queue Goal goal;

y2016/wpilib/wpilib_interface.cc

diff --git a/y2016/wpilib/wpilib_interface.cc b/y2016/wpilib/wpilib_interface.cc
index 6d16323..b1c52a4 100644
--- a/y2016/wpilib/wpilib_interface.cc
+++ b/y2016/wpilib/wpilib_interface.cc
@@ -408,6 +408,11 @@
     shooter_pusher_ = ::std::move(s);
   }
 
+  void set_lights(
+      ::std::unique_ptr<::frc971::wpilib::BufferedSolenoid> s) {
+    lights_ = ::std::move(s);
+  }
+
   void operator()() {
     compressor_->Start();
     ::aos::SetCurrentThreadName("Solenoids");
@@ -439,6 +444,7 @@
           LOG_STRUCT(DEBUG, "solenoids", *shooter_);
           shooter_clamp_->Set(shooter_->clamp_open);
           shooter_pusher_->Set(shooter_->push_to_shooter);
+          lights_->Set(shooter_->lights_on);
         }
       }
 
@@ -461,7 +467,7 @@
   const ::std::unique_ptr<::frc971::wpilib::BufferedPcm> &pcm_;
 
   ::std::unique_ptr<::frc971::wpilib::BufferedSolenoid> drivetrain_left_,
-      drivetrain_right_, shooter_clamp_, shooter_pusher_;
+      drivetrain_right_, shooter_clamp_, shooter_pusher_, lights_;
   ::std::unique_ptr<Compressor> compressor_;
 
   ::aos::Queue<::frc971::control_loops::DrivetrainQueue::Output> drivetrain_;
@@ -673,6 +679,7 @@
     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_lights(pcm->MakeSolenoid(6));
 
     solenoid_writer.set_compressor(make_unique<Compressor>());