Convert 2014_bot3 to autonomous framework
Makes it easier to experiment with it.
Change-Id: I9478a1a60ee61585a4e1b955e329686aefa15aa4
diff --git a/y2014_bot3/BUILD b/y2014_bot3/BUILD
index ea79dac..f5c5979 100644
--- a/y2014_bot3/BUILD
+++ b/y2014_bot3/BUILD
@@ -6,15 +6,18 @@
"joystick_reader.cc",
],
deps = [
- "//aos/time:time",
- "//aos/actions:action_lib",
- "//aos/logging",
- "//aos/util:log_interval",
- "//aos/input:joystick_input",
"//aos:init",
+ "//aos/actions:action_lib",
+ "//aos/input:drivetrain_input",
+ "//aos/input:joystick_input",
+ "//aos/logging",
+ "//aos/time",
+ "//aos/util:log_interval",
+ "//frc971/autonomous:auto_queue",
+ "//frc971/autonomous:base_autonomous_actor",
"//frc971/control_loops/drivetrain:drivetrain_queue",
"//frc971/queues:gyro",
- "//y2014_bot3/autonomous:auto_queue",
+ "//y2014_bot3/control_loops/drivetrain:drivetrain_base",
"//y2014_bot3/control_loops/rollers:rollers_queue",
],
)
@@ -23,7 +26,7 @@
start_binaries = [
":joystick_reader",
":wpilib_interface",
- "//y2014_bot3/autonomous:auto",
+ "//y2014_bot3/actors:autonomous_action",
"//y2014_bot3/control_loops/drivetrain:drivetrain",
"//y2014_bot3/control_loops/rollers:rollers",
],
@@ -36,16 +39,16 @@
],
restricted_to = ["//tools:roborio"],
deps = [
- "//aos/stl_mutex:stl_mutex",
- "//aos/time:time",
+ "//aos:init",
"//aos/controls:control_loop",
"//aos/logging",
"//aos/logging:queue_logging",
- "//aos/robot_state:robot_state",
+ "//aos/robot_state",
+ "//aos/stl_mutex",
+ "//aos/time",
"//aos/util:log_interval",
"//aos/util:phased_loop",
"//aos/util:wrapping_counter",
- "//aos:init",
"//frc971/control_loops:queues",
"//frc971/control_loops/drivetrain:drivetrain_queue",
"//frc971/wpilib:buffered_pcm",
@@ -58,7 +61,6 @@
"//frc971/wpilib:wpilib_interface",
"//frc971/wpilib:wpilib_robot_base",
"//third_party:wpilib",
- "//y2014_bot3/autonomous:auto_queue",
"//y2014_bot3/control_loops/drivetrain:drivetrain_base",
"//y2014_bot3/control_loops/rollers:rollers_lib",
],