commit 12b07b983c892ca46fa3450a296488d900380be6
author Maxwell Henderson <mxwhenderson@gmail.com> Mon Jan 08 20:17:25 2024 -0800
committer Maxwell Henderson <mxwhenderson@gmail.com> Sat Jan 13 17:33:27 2024 -0800
tree c1d12e10c2f30c6549db5d239dc6136f2bb16a5e
parent 329596317b49414f5669b1340927a7cd8f37a140

Put reused auto code in a different class

To keep old years using the same API I opted to make a new class which
new autonomous_actors can use.

Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: I991db4f65491994a718c5c8714f051fa071a128e

y2023/autonomous/autonomous_actor.h

diff --git a/y2023/autonomous/autonomous_actor.h b/y2023/autonomous/autonomous_actor.h
index 31ae4f5..5a5cd06 100644
--- a/y2023/autonomous/autonomous_actor.h
+++ b/y2023/autonomous/autonomous_actor.h
@@ -3,7 +3,7 @@
 
 #include "aos/actions/actions.h"
 #include "aos/actions/actor.h"
-#include "frc971/autonomous/base_autonomous_actor.h"
+#include "frc971/autonomous/user_button_localized_autonomous_actor.h"
 #include "frc971/control_loops/control_loops_generated.h"
 #include "frc971/control_loops/drivetrain/drivetrain_config.h"
 #include "frc971/control_loops/drivetrain/localizer_generated.h"
@@ -14,13 +14,11 @@
 namespace y2023 {
 namespace autonomous {
 
-class AutonomousActor : public ::frc971::autonomous::BaseAutonomousActor {
+class AutonomousActor
+    : public ::frc971::autonomous::UserButtonLocalizedAutonomousActor {
  public:
   explicit AutonomousActor(::aos::EventLoop *event_loop);
 
-  bool RunAction(
-      const ::frc971::autonomous::AutonomousActionParams *params) override;
-
  private:
   void set_arm_goal_position(uint32_t requested_arm_goal_position) {
     arm_goal_position_ = requested_arm_goal_position;
@@ -48,39 +46,27 @@
   void IntakeCube();
   void Balance();
 
+  bool Run(const ::frc971::autonomous::AutonomousActionParams *params) override;
+  void Replan() override;
+  void SendStartingPosition(const Eigen::Vector3d &start) override;
+  void Reset() override;
+
   [[nodiscard]] bool WaitForArmGoal(double distance_to_go = 0.01);
 
   [[nodiscard]] bool WaitForPreloaded();
 
-  void Reset();
-
-  void SendStartingPosition(const Eigen::Vector3d &start);
-  void MaybeSendStartingPosition();
   void SplineAuto();
   void ChargedUp();
   void ChargedUpCableSide();
-  void Replan();
 
   aos::Sender<frc971::control_loops::drivetrain::LocalizerControl>
       localizer_control_sender_;
-  aos::Fetcher<aos::JoystickState> joystick_state_fetcher_;
-  aos::Fetcher<aos::RobotState> robot_state_fetcher_;
 
   double wrist_goal_;
   control_loops::superstructure::RollerGoal roller_goal_ =
       control_loops::superstructure::RollerGoal::IDLE;
 
-  aos::TimerHandler *replan_timer_;
-  aos::TimerHandler *button_poll_;
-
-  aos::Alliance alliance_ = aos::Alliance::kInvalid;
   AutonomousSplines auto_splines_;
-  bool user_indicated_safe_to_reset_ = false;
-  bool sent_starting_position_ = false;
-
-  bool is_planned_ = false;
-
-  std::optional<Eigen::Vector3d> starting_position_;
 
   uint32_t arm_goal_position_;
   bool preloaded_ = false;