commit f59b8ee6e97a48cb331a51cb93f1ec392a3d19c1
author Austin Schuh <austin.linux@gmail.com> Sat Mar 19 21:31:36 2016 -0700
committer Austin Schuh <austin@peloton-tech.com> Mon Mar 21 19:40:33 2016 -0700
tree 2d40b7f95c1a3a42a183e74060be9d937320ccce
parent 7bb80b6350a921677108e5991e144163785fbc19

Wrote the 5 autonomous modes.

Change-Id: I46d3607811c78be14a3ca5f445899b15b0627fb5

y2016/control_loops/shooter/shooter.cc

diff --git a/y2016/control_loops/shooter/shooter.cc b/y2016/control_loops/shooter/shooter.cc
index 32ccc7e..0936eea 100644
--- a/y2016/control_loops/shooter/shooter.cc
+++ b/y2016/control_loops/shooter/shooter.cc
@@ -70,6 +70,7 @@
 
 Shooter::Shooter(ShooterQueue *my_shooter)
     : aos::controls::ControlLoop<ShooterQueue>(my_shooter),
+      shots_(0),
       last_pre_shot_timeout_(0, 0) {}
 
 void Shooter::RunIteration(const ShooterQueue::Goal *goal,
@@ -127,20 +128,24 @@
           }
           if (::std::abs(goal->angular_velocity) < 10 ||
               last_pre_shot_timeout_ < Time::Now()) {
-            state_ = ShooterLatchState::WAITING_FOR_SHOT_NEGEDGE;
+            state_ = ShooterLatchState::INCREMENT_SHOT_COUNT;
           }
           break;
         case ShooterLatchState::WAITING_FOR_SPINUP:
           shoot = true;
           if (left_.velocity() > goal->angular_velocity * 0.95 &&
               right_.velocity() > goal->angular_velocity * 0.95) {
-            state_ = ShooterLatchState::WAITING_FOR_SHOT_NEGEDGE;
+            state_ = ShooterLatchState::INCREMENT_SHOT_COUNT;
           }
           if (::std::abs(goal->angular_velocity) < 10 ||
               last_pre_shot_timeout_ < Time::Now()) {
-            state_ = ShooterLatchState::WAITING_FOR_SHOT_NEGEDGE;
+            state_ = ShooterLatchState::INCREMENT_SHOT_COUNT;
           }
           break;
+        case ShooterLatchState::INCREMENT_SHOT_COUNT:
+          ++shots_;
+          state_ = ShooterLatchState::WAITING_FOR_SHOT_NEGEDGE;
+          break;
         case ShooterLatchState::WAITING_FOR_SHOT_NEGEDGE:
           shoot = true;
           if (!goal->push_to_shooter) {
@@ -153,6 +158,8 @@
       output->push_to_shooter = shoot;
     }
   }
+
+  status->shots = shots_;
 }
 
 }  // namespace shooter

y2016/control_loops/shooter/shooter.h

diff --git a/y2016/control_loops/shooter/shooter.h b/y2016/control_loops/shooter/shooter.h
index d3a2f86..0b515f1 100644
--- a/y2016/control_loops/shooter/shooter.h
+++ b/y2016/control_loops/shooter/shooter.h
@@ -65,8 +65,10 @@
     WAITING_FOR_SPINDOWN = 1,
     // We are latched shooting waiting for the wheel to spin back up.
     WAITING_FOR_SPINUP = 2,
+    // Increment the shot count for the Status.
+    INCREMENT_SHOT_COUNT = 3,
     // Wait until the button is released.
-    WAITING_FOR_SHOT_NEGEDGE = 3
+    WAITING_FOR_SHOT_NEGEDGE = 4,
   };
 
  protected:
@@ -78,6 +80,9 @@
  private:
   ShooterSide left_, right_;
 
+  // The number of shots since starting the Shooter.
+  uint32_t shots_;
+
   // Current state.
   ShooterLatchState state_ = ShooterLatchState::PASS_THROUGH;
   ::aos::time::Time last_pre_shot_timeout_;

y2016/control_loops/shooter/shooter.q

diff --git a/y2016/control_loops/shooter/shooter.q b/y2016/control_loops/shooter/shooter.q
index 6598319..b799b5a 100644
--- a/y2016/control_loops/shooter/shooter.q
+++ b/y2016/control_loops/shooter/shooter.q
@@ -48,6 +48,10 @@
     // True if the shooter is ready.  It is better to compare the velocities
     // directly so there isn't confusion on if the goal is up to date.
     bool ready;
+
+    // The number of shots that have been fired since the start of the shooter
+    // control loop.
+    uint32_t shots;
   };
 
   message Output {