commit e92ff1134ee93e3da5a516428b7b9ff9565a6d82
author Ravago Jones <ravagojones@gmail.com> Sat Oct 23 17:27:44 2021 -0700
committer Ravago Jones <ravagojones@gmail.com> Sat Oct 23 17:59:26 2021 -0700
tree 1017b1ffb2a7748f20b4c4ef21f5dbba7aef36f0
parent 03d5dddbd9598a7d3b113846508c8096b64f7bdc

Make climber buttons work

Change-Id: Ia6d83928c0dbaa557fc02050bcdaf6b3b2d2d764
Signed-off-by: Ravago Jones <ravagojones@gmail.com>

y2020/wpilib_interface.cc

diff --git a/y2020/wpilib_interface.cc b/y2020/wpilib_interface.cc
index 9cc0c7d..67afb1d 100644
--- a/y2020/wpilib_interface.cc
+++ b/y2020/wpilib_interface.cc
@@ -512,7 +512,7 @@
     if (climber_falcon_) {
       climber_falcon_->Set(
           ctre::phoenix::motorcontrol::ControlMode::PercentOutput,
-          std::clamp(-output.climber_voltage(), -kMaxBringupPower,
+          std::clamp(output.climber_voltage(), -kMaxBringupPower,
                      kMaxBringupPower) /
               12.0);
     }
@@ -625,8 +625,7 @@
     std::unique_ptr<frc971::wpilib::ADIS16448> old_imu;
     std::unique_ptr<frc971::wpilib::ADIS16470> new_imu;
     std::unique_ptr<frc::SPI> imu_spi;
-    if (::aos::network::GetTeamNumber() ==
-        constants::Values::kCompTeamNumber) {
+    if (::aos::network::GetTeamNumber() == constants::Values::kCompTeamNumber) {
       old_imu = make_unique<frc971::wpilib::ADIS16448>(
           &imu_event_loop, spi_port, imu_trigger.get());
       old_imu->SetDummySPI(frc::SPI::Port::kOnboardCS2);