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/y2020/BUILD b/y2020/BUILD
index d95b687..da7d68c 100644
--- a/y2020/BUILD
+++ b/y2020/BUILD
@@ -91,7 +91,7 @@
"//aos/controls:control_loop",
"//aos/events:shm_event_loop",
"//aos/logging",
- "//aos/robot_state:robot_state_fbs",
+ "//frc971/input:robot_state_fbs",
"//aos/stl_mutex",
"//aos/time",
"//aos/util:log_interval",
@@ -129,9 +129,9 @@
":setpoint_fbs",
"//aos:init",
"//aos/actions:action_lib",
- "//aos/input:action_joystick_input",
- "//aos/input:drivetrain_input",
- "//aos/input:joystick_input",
+ "//frc971/input:action_joystick_input",
+ "//frc971/input:drivetrain_input",
+ "//frc971/input:joystick_input",
"//aos/logging",
"//frc971/autonomous:auto_fbs",
"//frc971/autonomous:base_autonomous_actor",
@@ -185,7 +185,7 @@
visibility = ["//visibility:public"],
deps = [
"//aos/events:config",
- "//aos/robot_state:config",
+ "//frc971/input:config",
"//frc971/control_loops/drivetrain:config",
],
)
@@ -214,7 +214,7 @@
visibility = ["//visibility:public"],
deps = [
"//aos/events:config",
- "//aos/robot_state:config",
+ "//frc971/input:config",
"//frc971/control_loops/drivetrain:config",
],
)
@@ -237,7 +237,7 @@
target_compatible_with = ["@platforms//os:linux"],
deps = [
"//aos/events:config",
- "//aos/robot_state:config",
+ "//frc971/input:config",
"//frc971/autonomous:config",
"//frc971/control_loops/drivetrain:config",
"//frc971/wpilib:config",
diff --git a/y2020/actors/BUILD b/y2020/actors/BUILD
index 6521b85..be0d6dd 100644
--- a/y2020/actors/BUILD
+++ b/y2020/actors/BUILD
@@ -48,7 +48,7 @@
deps = [
"//aos/events:event_loop",
"//aos/logging",
- "//aos/robot_state:joystick_state_fbs",
+ "//frc971/input:joystick_state_fbs",
"//aos/util:math",
"//aos/util:phased_loop",
"//frc971/autonomous:base_autonomous_actor",
diff --git a/y2020/actors/auto_splines.h b/y2020/actors/auto_splines.h
index 891228b..a80345c 100644
--- a/y2020/actors/auto_splines.h
+++ b/y2020/actors/auto_splines.h
@@ -3,9 +3,9 @@
#include "aos/events/event_loop.h"
#include "aos/flatbuffer_merge.h"
-#include "aos/robot_state/joystick_state_generated.h"
#include "frc971/control_loops/control_loops_generated.h"
#include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
+#include "frc971/input/joystick_state_generated.h"
/*
The cooridinate system for the autonomous splines is the same as the spline
diff --git a/y2020/control_loops/superstructure/superstructure.h b/y2020/control_loops/superstructure/superstructure.h
index af15be6..4777aef 100644
--- a/y2020/control_loops/superstructure/superstructure.h
+++ b/y2020/control_loops/superstructure/superstructure.h
@@ -3,8 +3,8 @@
#include "aos/controls/control_loop.h"
#include "aos/events/event_loop.h"
-#include "aos/robot_state/joystick_state_generated.h"
#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
+#include "frc971/input/joystick_state_generated.h"
#include "y2020/constants.h"
#include "y2020/control_loops/superstructure/climber.h"
#include "y2020/control_loops/superstructure/shooter/shooter.h"
diff --git a/y2020/control_loops/superstructure/turret/aiming.h b/y2020/control_loops/superstructure/turret/aiming.h
index 854518c..7f69d48 100644
--- a/y2020/control_loops/superstructure/turret/aiming.h
+++ b/y2020/control_loops/superstructure/turret/aiming.h
@@ -2,10 +2,10 @@
#define y2020_CONTROL_LOOPS_SUPERSTRUCTURE_TURRET_AIMING_H_
#include "aos/flatbuffers.h"
-#include "aos/robot_state/joystick_state_generated.h"
#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
#include "frc971/control_loops/pose.h"
#include "frc971/control_loops/profiled_subsystem_generated.h"
+#include "frc971/input/joystick_state_generated.h"
#include "y2020/control_loops/superstructure/superstructure_status_generated.h"
namespace y2020 {
@@ -66,7 +66,7 @@
bool aiming_for_inner_port_ = false;
// Distance of the shot to the virtual target, used for calculating hood
// position and shooter speed.
- double shot_distance_ = 0.0; // meters
+ double shot_distance_ = 0.0; // meters
// Real-world distance to the target.
double target_distance_ = 0.0; // meters
};
diff --git a/y2020/joystick_reader.cc b/y2020/joystick_reader.cc
index 8df5a8a..3e828cf 100644
--- a/y2020/joystick_reader.cc
+++ b/y2020/joystick_reader.cc
@@ -5,31 +5,30 @@
#include "aos/actions/actions.h"
#include "aos/init.h"
-#include "aos/input/action_joystick_input.h"
-#include "aos/input/driver_station_data.h"
-#include "aos/input/drivetrain_input.h"
-#include "aos/input/joystick_input.h"
#include "aos/logging/logging.h"
#include "aos/network/team_number.h"
#include "aos/util/log_interval.h"
#include "frc971/autonomous/base_autonomous_actor.h"
#include "frc971/control_loops/drivetrain/localizer_generated.h"
+#include "frc971/input/action_joystick_input.h"
+#include "frc971/input/driver_station_data.h"
+#include "frc971/input/drivetrain_input.h"
+#include "frc971/input/joystick_input.h"
#include "y2020/constants.h"
#include "y2020/control_loops/drivetrain/drivetrain_base.h"
#include "y2020/control_loops/superstructure/superstructure_goal_generated.h"
#include "y2020/control_loops/superstructure/superstructure_status_generated.h"
#include "y2020/setpoint_generated.h"
-using aos::input::driver_station::ButtonLocation;
-using aos::input::driver_station::ControlBit;
-using aos::input::driver_station::JoystickAxis;
-using aos::input::driver_station::POVLocation;
+using frc971::input::driver_station::ButtonLocation;
+using frc971::input::driver_station::ControlBit;
+using frc971::input::driver_station::JoystickAxis;
+using frc971::input::driver_station::POVLocation;
using frc971::CreateProfileParameters;
using frc971::control_loops::CreateStaticZeroingSingleDOFProfiledSubsystemGoal;
using frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal;
-
namespace y2020 {
namespace input {
namespace joysticks {
@@ -50,13 +49,13 @@
const ButtonLocation kWinch(3, 14);
-class Reader : public ::aos::input::ActionJoystickInput {
+class Reader : public ::frc971::input::ActionJoystickInput {
public:
Reader(::aos::EventLoop *event_loop)
- : ::aos::input::ActionJoystickInput(
+ : ::frc971::input::ActionJoystickInput(
event_loop,
::y2020::control_loops::drivetrain::GetDrivetrainConfig(),
- ::aos::input::DrivetrainInputReader::InputType::kPistol, {}),
+ ::frc971::input::DrivetrainInputReader::InputType::kPistol, {}),
superstructure_goal_sender_(
event_loop->MakeSender<superstructure::Goal>("/superstructure")),
localizer_control_sender_(
@@ -89,7 +88,8 @@
}
}
- void HandleTeleop(const ::aos::input::driver_station::Data &data) override {
+ void HandleTeleop(
+ const ::frc971::input::driver_station::Data &data) override {
superstructure_status_fetcher_.Fetch();
if (!superstructure_status_fetcher_.get()) {
AOS_LOG(ERROR, "Got no superstructure status message.\n");
diff --git a/y2020/wpilib_interface.cc b/y2020/wpilib_interface.cc
index 14f6ac9..e0f6f6b 100644
--- a/y2020/wpilib_interface.cc
+++ b/y2020/wpilib_interface.cc
@@ -27,7 +27,6 @@
#include "aos/make_unique.h"
#include "aos/network/team_number.h"
#include "aos/realtime.h"
-#include "aos/robot_state/robot_state_generated.h"
#include "aos/time/time.h"
#include "aos/util/log_interval.h"
#include "aos/util/phased_loop.h"
@@ -36,6 +35,7 @@
#include "ctre/phoenix/motorcontrol/can/VictorSPX.h"
#include "frc971/autonomous/auto_mode_generated.h"
#include "frc971/control_loops/drivetrain/drivetrain_position_generated.h"
+#include "frc971/input/robot_state_generated.h"
#include "frc971/wpilib/ADIS16470.h"
#include "frc971/wpilib/buffered_pcm.h"
#include "frc971/wpilib/buffered_solenoid.h"