| Comran Morshed | fab3200 | 2015-08-30 14:48:54 +0000 | [diff] [blame] | 1 | #include "bot3/control_loops/intake/intake.h" |
| 2 | |
| 3 | #include "bot3/control_loops/intake/intake.q.h" |
| 4 | |
| 5 | namespace bot3 { |
| 6 | namespace control_loops { |
| 7 | |
| 8 | Intake::Intake(control_loops::IntakeQueue *intake) |
| 9 | : aos::controls::ControlLoop<control_loops::IntakeQueue>(intake) {} |
| 10 | |
| 11 | void Intake::RunIteration( |
| 12 | const control_loops::IntakeQueue::Goal *goal, |
| 13 | const control_loops::IntakeQueue::Position * /*position*/, |
| 14 | control_loops::IntakeQueue::Output *output, |
| 15 | control_loops::IntakeQueue::Status * /*status*/) { |
| 16 | |
| 17 | if (output != nullptr) { |
| 18 | output->Zero(); |
| 19 | |
| Jasmine Zhou | 7b18415 | 2015-09-12 16:21:39 -0700 | [diff] [blame^] | 20 | output->intake = goal->movement; |
| Jasmine Zhou | da77c5f | 2015-09-12 15:16:10 -0700 | [diff] [blame] | 21 | output->claw_closed = goal->claw_closed; |
| Comran Morshed | fab3200 | 2015-08-30 14:48:54 +0000 | [diff] [blame] | 22 | } |
| 23 | } |
| 24 | |
| 25 | } // namespace control_loops |
| 26 | } // namespace bot3 |