commit 2a671dfcd9d025edd251aa2f6e1f1496564fbcab
author Austin Schuh <austin.linux@gmail.com> Sat Nov 26 15:00:06 2016 -0800
committer Austin Schuh <austin.linux@gmail.com> Fri Dec 23 17:48:49 2016 -0800
tree e8d0dd7ea02ea18ef391fcaca73579fa770abcd4
parent 178d515c8c92a089edf4caafee76a754cb548e93

Upgraded //y2012 to use the common drive code.

This is a fixup from changing the call signature of DoCoerceGoal

Change-Id: I6a99f666bebd9a728f42083a9c0280e8f2dab295

y2012/wpilib/BUILD

diff --git a/y2012/wpilib/BUILD b/y2012/wpilib/BUILD
index afb85e4..b2e6934 100644
--- a/y2012/wpilib/BUILD
+++ b/y2012/wpilib/BUILD
@@ -6,30 +6,30 @@
     'wpilib_interface.cc',
   ],
   deps = [
-    '//aos/linux_code:init',
-    '//aos/common:stl_mutex',
-    '//aos/common/logging',
-    '//third_party:wpilib',
-    '//y2012/control_loops/drivetrain:drivetrain_queue',
-    '//y2012/control_loops/accessories:accessories_queue',
     '//aos/common/controls:control_loop',
-    '//aos/common/util:log_interval',
-    '//aos/common:time',
+    '//aos/common/logging',
     '//aos/common/logging:queue_logging',
     '//aos/common/messages:robot_state',
+    '//aos/common/util:log_interval',
     '//aos/common/util:phased_loop',
     '//aos/common/util:wrapping_counter',
-    '//frc971/wpilib:joystick_sender',
-    '//frc971/wpilib:loop_output_handler',
-    '//frc971/wpilib:buffered_pcm',
-    '//frc971/wpilib:gyro_sender',
-    '//frc971/wpilib:dma_edge_counting',
-    '//frc971/wpilib:interrupt_edge_counting',
-    '//frc971/wpilib:wpilib_robot_base',
-    '//frc971/wpilib:encoder_and_potentiometer',
+    '//aos/common:stl_mutex',
+    '//aos/common:time',
+    '//aos/linux_code:init',
+    '//frc971/control_loops/drivetrain:drivetrain_queue',
     '//frc971/control_loops:queues',
-    '//frc971/wpilib:logging_queue',
-    '//frc971/wpilib:wpilib_interface',
+    '//frc971/wpilib:buffered_pcm',
     '//frc971/wpilib:dma',
+    '//frc971/wpilib:dma_edge_counting',
+    '//frc971/wpilib:encoder_and_potentiometer',
+    '//frc971/wpilib:gyro_sender',
+    '//frc971/wpilib:interrupt_edge_counting',
+    '//frc971/wpilib:joystick_sender',
+    '//frc971/wpilib:logging_queue',
+    '//frc971/wpilib:loop_output_handler',
+    '//frc971/wpilib:wpilib_interface',
+    '//frc971/wpilib:wpilib_robot_base',
+    '//third_party:wpilib',
+    '//y2012/control_loops/accessories:accessories_queue',
   ],
 )

y2012/wpilib/wpilib_interface.cc

diff --git a/y2012/wpilib/wpilib_interface.cc b/y2012/wpilib/wpilib_interface.cc
index 290f067..dd0f7ca 100644
--- a/y2012/wpilib/wpilib_interface.cc
+++ b/y2012/wpilib/wpilib_interface.cc
@@ -31,26 +31,25 @@
 #include "aos/linux_code/init.h"
 #include "aos/common/messages/robot_state.q.h"
 
-#include "y2012/control_loops/drivetrain/drivetrain.q.h"
-#include "y2012/control_loops/accessories/accessories.q.h"
-
-#include "frc971/wpilib/joystick_sender.h"
-#include "frc971/wpilib/loop_output_handler.h"
-#include "frc971/wpilib/buffered_solenoid.h"
+#include "frc971/control_loops/drivetrain/drivetrain.q.h"
 #include "frc971/wpilib/buffered_pcm.h"
-#include "frc971/wpilib/gyro_sender.h"
-#include "frc971/wpilib/dma_edge_counting.h"
-#include "frc971/wpilib/interrupt_edge_counting.h"
-#include "frc971/wpilib/encoder_and_potentiometer.h"
-#include "frc971/wpilib/logging.q.h"
-#include "frc971/wpilib/wpilib_interface.h"
+#include "frc971/wpilib/buffered_solenoid.h"
 #include "frc971/wpilib/dma.h"
+#include "frc971/wpilib/dma_edge_counting.h"
+#include "frc971/wpilib/encoder_and_potentiometer.h"
+#include "frc971/wpilib/gyro_sender.h"
+#include "frc971/wpilib/interrupt_edge_counting.h"
+#include "frc971/wpilib/joystick_sender.h"
+#include "frc971/wpilib/logging.q.h"
+#include "frc971/wpilib/loop_output_handler.h"
+#include "frc971/wpilib/wpilib_interface.h"
+#include "y2012/control_loops/accessories/accessories.q.h"
 
 #ifndef M_PI
 #define M_PI 3.14159265358979323846
 #endif
 
-using ::y2012::control_loops::drivetrain_queue;
+using ::frc971::control_loops::drivetrain_queue;
 using ::y2012::control_loops::accessories_queue;
 
 namespace y2012 {
@@ -235,7 +234,7 @@
 
   ::std::unique_ptr<Compressor> compressor_;
 
-  ::aos::Queue<::y2012::control_loops::DrivetrainQueue::Output> drivetrain_;
+  ::aos::Queue<::frc971::control_loops::DrivetrainQueue::Output> drivetrain_;
   ::aos::Queue<::y2012::control_loops::AccessoriesQueue::Message> accessories_;
 
   ::std::atomic<bool> run_{true};
@@ -253,11 +252,11 @@
 
  private:
   virtual void Read() override {
-    ::y2012::control_loops::drivetrain_queue.output.FetchAnother();
+    drivetrain_queue.output.FetchAnother();
   }
 
   virtual void Write() override {
-    auto &queue = ::y2012::control_loops::drivetrain_queue.output;
+    auto &queue = drivetrain_queue.output;
     LOG_STRUCT(DEBUG, "will output", *queue);
     left_drivetrain_talon_->Set(-queue->left_voltage / 12.0);
     right_drivetrain_talon_->Set(queue->right_voltage / 12.0);