Add fender auto and auto-select it
Auto now automatically selects fender vs aligned depending on if we are
971 or 9971.
Change-Id: Ic6bd0b10af9049fba01eba25f29c383c9d3b4a2b
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2020/actors/auto_splines.cc b/y2020/actors/auto_splines.cc
index 48da130..0ed59e2 100644
--- a/y2020/actors/auto_splines.cc
+++ b/y2020/actors/auto_splines.cc
@@ -151,6 +151,22 @@
alliance);
}
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::FarSideFender(
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
+ aos::Alliance alliance) {
+ // I drew the spline on the wrong side of the field.
+ if (alliance == aos::Alliance::kBlue) {
+ alliance = aos::Alliance::kRed;
+ } else {
+ alliance = aos::Alliance::kBlue;
+ }
+ return FixSpline(builder,
+ aos::CopyFlatBuffer<frc971::MultiSpline>(far_side_fender_,
+ builder->fbb()),
+ alliance);
+}
+
flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::StraightLine(
aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
*builder) {