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.h b/y2020/actors/auto_splines.h
index 2dd99b7..e7bef0a 100644
--- a/y2020/actors/auto_splines.h
+++ b/y2020/actors/auto_splines.h
@@ -30,7 +30,9 @@
target_offset_1_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
"splines/target_offset_1.json")),
target_offset_2_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
- "splines/target_offset_2.json")) {}
+ "splines/target_offset_2.json")),
+ far_side_fender_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
+ "splines/9971_to_fender.json")) {}
static flatbuffers::Offset<frc971::MultiSpline> BasicSSpline(
aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
@@ -72,6 +74,11 @@
builder->fbb());
}
+ flatbuffers::Offset<frc971::MultiSpline> FarSideFender(
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
+ aos::Alliance alliance);
+
private:
aos::FlatbufferDetachedBuffer<frc971::MultiSpline> test_spline_;
aos::FlatbufferDetachedBuffer<frc971::MultiSpline> target_aligned_1_;
@@ -79,6 +86,7 @@
aos::FlatbufferDetachedBuffer<frc971::MultiSpline> target_aligned_3_;
aos::FlatbufferDetachedBuffer<frc971::MultiSpline> target_offset_1_;
aos::FlatbufferDetachedBuffer<frc971::MultiSpline> target_offset_2_;
+ aos::FlatbufferDetachedBuffer<frc971::MultiSpline> far_side_fender_;
};
} // namespace actors