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[hal] REVPH: Start closed-loop compressor control on init (#3673)

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Similar to the PCM, we're going to make the PH not do anything with the compressor until the PH HAL object has been initialized. The mechanism we're going to use to signal to the PH that that has happened is to begin sending the state of the solenoids (which will all be set to off at this point).
This commit is contained in:
Noah Andrews
2021-10-27 01:36:47 -05:00
committed by GitHub
parent d1842ea8fb
commit 57301a7f9c
1 changed files with 2 additions and 1 deletions
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3
hal/src/main/native/athena/REVPH.cpp
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@@ -216,7 +216,8 @@ HAL_REVPHHandle HAL_InitializeREVPH(int32_t module,
hph->hcan = hcan;
hph->controlPeriod = kDefaultControlPeriod;
// TODO any other things
// Start closed-loop compressor control by starting solenoid state updates
HAL_REV_SendSolenoidsState(hph.get(), status);
return handle;
}