restore prev namespace stuff, need to define driveTrainSwerve in Glob…

…als.cpp
huskyroboticsteam · Aug 6, 2023 · 6664fa5 · 6664fa5
1 parent 42dcb1a
commit 6664fa5
Showing 1 changed file with 13 additions and 13 deletions.
diff --git a/src/world_interface/kinematic_common_interface.cpp b/src/world_interface/kinematic_common_interface.cpp
@@ -19,7 +19,7 @@ using util::toTransform;
 using std::chrono::duration_cast;
 using std::chrono::milliseconds;
 using namespace std::chrono_literals;
-//using Globals::driveTrainSwerve;
+using Globals::driveTrainSwerve;
 
 namespace robot {
 namespace {
@@ -98,18 +98,18 @@ double setCmdVelSwerve(double j1x, double j1y, double j2x, double j2y, int drive
 
 		}
 	}
-	Globals::driveTrainSwerve.driveMode = (uint8_t)drivemode;
-	DriveFromHandController(&Globals::driveTrainSwerve, j1x, j1y, j2x, j2y);
-
-	setMotorPower(motorid_t::frontLeftWheel, (double)(Globals::driveTrainSwerve.wh[0]).control.wheelSpeed);
-	setMotorPower(motorid_t::rearLeftWheel, (double)(Globals::driveTrainSwerve.wh[3]).control.wheelSpeed);
-	setMotorPower(motorid_t::frontRightWheel, (double)(Globals::driveTrainSwerve.wh[1]).control.wheelSpeed);
-	setMotorPower(motorid_t::rearRightWheel, (double)(Globals::driveTrainSwerve.wh[2]).control.wheelSpeed);
-
-	setMotorPos(motorid_t::frontLeftSteer, (double)(Globals::driveTrainSwerve.wh[0]).control.steeringTarget * 180.0 / 3.14159);
-	setMotorPos(motorid_t::rearLeftSteer, (double)(Globals::driveTrainSwerve.wh[3]).control.steeringTarget * 180.0 / 3.14159);
-	setMotorPos(motorid_t::frontRightSteer, (double)(Globals::driveTrainSwerve.wh[1]).control.steeringTarget * 180.0 / 3.14159);
-	setMotorPos(motorid_t::rearRightSteer, (double)(Globals::driveTrainSwerve.wh[2]).control.steeringTarget * 180.0 / 3.14159);
+	driveTrainSwerve.driveMode = (uint8_t)drivemode;
+	DriveFromHandController(&driveTrainSwerve, j1x, j1y, j2x, j2y);
+	// TODO: define driveTrainSwerve in Globals.cpp
+	setMotorPower(motorid_t::frontLeftWheel, (double)(driveTrainSwerve.wh[0]).control.wheelSpeed);
+	setMotorPower(motorid_t::rearLeftWheel, (double)(driveTrainSwerve.wh[3]).control.wheelSpeed);
+	setMotorPower(motorid_t::frontRightWheel, (double)(driveTrainSwerve.wh[1]).control.wheelSpeed);
+	setMotorPower(motorid_t::rearRightWheel, (double)(driveTrainSwerve.wh[2]).control.wheelSpeed);
+
+	setMotorPos(motorid_t::frontLeftSteer, (double)(driveTrainSwerve.wh[0]).control.steeringTarget * 180.0 / 3.14159);
+	setMotorPos(motorid_t::rearLeftSteer, (double)(driveTrainSwerve.wh[3]).control.steeringTarget * 180.0 / 3.14159);
+	setMotorPos(motorid_t::frontRightSteer, (double)(driveTrainSwerve.wh[1]).control.steeringTarget * 180.0 / 3.14159);
+	setMotorPos(motorid_t::rearRightSteer, (double)(driveTrainSwerve.wh[2]).control.steeringTarget * 180.0 / 3.14159);
 
 	return 0.0;
 }