Port y2014 bot3 to new control system.
Change-Id: I894277089335e36ea95b52e033056b1a8fb4ca30
diff --git a/y2014_bot3/control_loops/rollers/rollers.h b/y2014_bot3/control_loops/rollers/rollers.h
index f67b372..f0cae13 100644
--- a/y2014_bot3/control_loops/rollers/rollers.h
+++ b/y2014_bot3/control_loops/rollers/rollers.h
@@ -1,33 +1,29 @@
-#ifndef BOT3_CONTROL_LOOPS_ROLLERS_H_
-#define BOT3_CONTROL_LOOPS_ROLLERS_H_
+#ifndef Y2014_BOT3_CONTROL_LOOPS_ROLLERS_H_
+#define Y2014_BOT3_CONTROL_LOOPS_ROLLERS_H_
#include "aos/common/controls/control_loop.h"
-#include "bot3/control_loops/rollers/rollers.q.h"
-namespace bot3 {
+#include "y2014_bot3/control_loops/rollers/rollers.q.h"
+
+namespace y2014_bot3 {
namespace control_loops {
-class RollersLoop
- : public aos::controls::ControlLoop<control_loops::Rollers,
- false, false, true> {
+class Rollers : public aos::controls::ControlLoop<control_loops::RollersQueue> {
public:
// Constructs a control loops which can take a rollers or defaults to the
- // rollers at ::bot3::control_loops::rollers.
- explicit RollersLoop(
- control_loops::Rollers *my_rollers = &control_loops::rollers)
- : aos::controls::ControlLoop<control_loops::Rollers, false, false, true>(
- my_rollers) {}
+ // rollers at ::2014_bot3::control_loops::rollers.
+ explicit Rollers(control_loops::RollersQueue *rollers_queue =
+ &control_loops::rollers_queue);
protected:
// Executes one cycle of the control loop.
- virtual void RunIteration(
- const control_loops::Rollers::Goal *goal,
- const control_loops::Rollers::Position *position,
- control_loops::Rollers::Output *output,
- control_loops::Rollers::Status *status);
+ void RunIteration(const control_loops::RollersQueue::Goal *goal,
+ const control_loops::RollersQueue::Position *position,
+ control_loops::RollersQueue::Output *output,
+ control_loops::RollersQueue::Status *status) override;
};
} // namespace control_loops
-} // namespace bot3
+} // namespace y2014_bot3
-#endif // BOT3_CONTROL_LOOPS_ROLLERS_H_
+#endif // Y2014_BOT3_CONTROL_LOOPS_ROLLERS_H_