commit 1bf8a217e82c2d1677ea6d1509c86057672b7aa5
author Austin Schuh <austin.linux@gmail.com> Sun May 26 22:13:14 2019 -0700
committer Austin Schuh <austin.linux@gmail.com> Wed May 29 20:43:46 2019 -0700
tree e98d74d37f1bbed62c33f92a7378eae35e081c97
parent bbce72d6c317e70df157f703fe60122d2118d649

Convert actions to event loops

The logic gets significantly simpler due to Watchers.  But we also get
to port all the users over as well.

Change-Id: Ib4e75951e65f7431acc6c1548b7f1d20da3da295

y2014/joystick_reader.cc

diff --git a/y2014/joystick_reader.cc b/y2014/joystick_reader.cc
index 99c11b4..2b32d2d 100644
--- a/y2014/joystick_reader.cc
+++ b/y2014/joystick_reader.cc
@@ -164,7 +164,8 @@
         goal_angle_(0.0),
         separation_angle_(kGrabSeparation),
         velocity_compensation_(0.0),
-        intake_power_(0.0) {}
+        intake_power_(0.0),
+        shoot_action_factory_(actors::ShootActor::MakeFactory(event_loop)) {}
 
   void SetGoal(ClawGoal goal) {
     goal_angle_ = goal.angle;
@@ -315,7 +316,7 @@
     }
 
     if (data.PosEdge(kFire)) {
-      EnqueueAction(actors::MakeShootAction());
+      EnqueueAction(shoot_action_factory_.Make(0.0));
     } else if (data.NegEdge(kFire)) {
       CancelCurrentAction();
     }
@@ -417,6 +418,8 @@
   double intake_power_;
   bool moving_for_shot_ = false;
 
+  actors::ShootActor::Factory shoot_action_factory_;
+
   ::aos::util::SimpleLogInterval no_drivetrain_status_ =
       ::aos::util::SimpleLogInterval(::std::chrono::milliseconds(200), WARNING,
                                      "no drivetrain status");