Move aos/input and aos/robot_state to frc971/input
Neither folder makes any sense as part of aos/.
Change-Id: I10e0532da4e688c18a9354012b783c43566fd2a1
diff --git a/y2012/wpilib_interface.cc b/y2012/wpilib_interface.cc
index 256306a..f611c93 100644
--- a/y2012/wpilib_interface.cc
+++ b/y2012/wpilib_interface.cc
@@ -1,12 +1,12 @@
+#include <inttypes.h>
#include <stdio.h>
#include <string.h>
#include <unistd.h>
-#include <inttypes.h>
#include <chrono>
-#include <thread>
-#include <mutex>
#include <functional>
+#include <mutex>
+#include <thread>
#include "frc971/wpilib/ahal/AnalogInput.h"
#include "frc971/wpilib/ahal/Compressor.h"
@@ -24,7 +24,6 @@
#include "aos/init.h"
#include "aos/logging/logging.h"
#include "aos/make_unique.h"
-#include "aos/robot_state/robot_state_generated.h"
#include "aos/stl_mutex/stl_mutex.h"
#include "aos/time/time.h"
#include "aos/util/log_interval.h"
@@ -32,6 +31,7 @@
#include "aos/util/wrapping_counter.h"
#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
#include "frc971/control_loops/drivetrain/drivetrain_position_generated.h"
+#include "frc971/input/robot_state_generated.h"
#include "frc971/wpilib/buffered_pcm.h"
#include "frc971/wpilib/buffered_solenoid.h"
#include "frc971/wpilib/dma.h"
@@ -53,15 +53,12 @@
namespace wpilib {
double drivetrain_translate(int32_t in) {
- return -static_cast<double>(in) /
- (256.0 /*cpr*/ * 4.0 /*4x*/) *
- 1 *
+ return -static_cast<double>(in) / (256.0 /*cpr*/ * 4.0 /*4x*/) * 1 *
(3.5 /*wheel diameter*/ * 2.54 / 100.0 * M_PI) * 2.0 / 2.0;
}
double drivetrain_velocity_translate(double in) {
- return (1.0 / in) / 256.0 /*cpr*/ *
- 1 *
+ return (1.0 / in) / 256.0 /*cpr*/ * 1 *
(3.5 /*wheel diameter*/ * 2.54 / 100.0 * M_PI) * 2.0 / 2.0;
}
@@ -291,5 +288,4 @@
} // namespace wpilib
} // namespace y2012
-
AOS_ROBOT_CLASS(::y2012::wpilib::WPILibRobot);