ClawIO.cpp

#include "io/ClawIO.h"

void ClawIO::Periodic() {
    // Process all the inputs and outputs to/from high level software.
    VOKC_CALL(ProcessIO());
}

void ClawIO::SimulationPeriodic() {
    // SimulationPeriodic
}

bool ClawIO::ProcessIO() {
    OKC_CHECK(sw_interface_ != nullptr);
    OKC_CHECK(hw_interface_ != nullptr);
    OKC_CHECK(hw_interface_->claw_open_and_close_encoder != nullptr);

    // Set the software outputs
    // If the encoder should be reset, reset it
    if (sw_interface_->reset_claw_open_and_close) {
         hw_interface_->claw_open_and_close_encoder->SetPosition (0);
        // Lower the encoder reset flag
        sw_interface_->reset_claw_open_and_close = false;
    }
    hw_interface_->claw_open_and_close_motor->Set(sw_interface_->claw_open_and_close_power);
    sw_interface_->encoder_reading = hw_interface_->claw_open_and_close_encoder->GetPosition();

    return true;
}