Merge "Clean up new autonomous base code"
diff --git a/frc971/autonomous/base_autonomous_actor.cc b/frc971/autonomous/base_autonomous_actor.cc
index 73102ec..d115246 100644
--- a/frc971/autonomous/base_autonomous_actor.cc
+++ b/frc971/autonomous/base_autonomous_actor.cc
@@ -10,15 +10,13 @@
#include "frc971/control_loops/drivetrain/drivetrain.q.h"
-namespace frc971 {
-namespace autonomous {
-
using ::frc971::control_loops::drivetrain_queue;
using ::aos::monotonic_clock;
namespace chrono = ::std::chrono;
namespace this_thread = ::std::this_thread;
-namespace {} // namespace
+namespace frc971 {
+namespace autonomous {
BaseAutonomousActor::BaseAutonomousActor(
AutonomousActionQueueGroup *s,
@@ -109,9 +107,9 @@
}
bool BaseAutonomousActor::IsDriveDone() {
- constexpr double kPositionTolerance = 0.02;
- constexpr double kVelocityTolerance = 0.10;
- constexpr double kProfileTolerance = 0.001;
+ static constexpr double kPositionTolerance = 0.02;
+ static constexpr double kVelocityTolerance = 0.10;
+ static constexpr double kProfileTolerance = 0.001;
if (drivetrain_queue.status.get()) {
if (::std::abs(drivetrain_queue.status->profiled_left_position_goal -