Started work on creating a shooter action with Austin.
diff --git a/frc971/autonomous/shoot_action.cc b/frc971/autonomous/shoot_action.cc
new file mode 100644
index 0000000..118736b
--- /dev/null
+++ b/frc971/autonomous/shoot_action.cc
@@ -0,0 +1,108 @@
+#include "stdio.h"
+
+#include "aos/common/control_loop/Timing.h"
+#include "aos/common/logging/logging.h"
+#include "aos/common/network/team_number.h"
+
+#include "frc971/actions/shoot_action.q.h"
+#include "frc971/constants.h"
+
+namespace frc971 {
+namespace actions {
+
+class ShootAction {
+ public:
+ void Run() {
+ ::frc971::actions::shoot_action.FetchLatest();
+ while (!::frc971::actions::shoot_action.get()) {
+ ::frc971::actions::shoot_action.FetchNextBlocking();
+ }
+
+ while (true) {
+ while (!::frc971::actions::shoot_action->run) {
+ LOG(INFO, "Waiting for an action request.\n");
+ ::frc971::actions::shoot_action.FetchNextBlocking();
+ }
+ LOG(INFO, "Starting action\n");
+ RunAction();
+
+ while (::frc971::actions::shoot_action->run) {
+ LOG(INFO, "Waiting for the action to be stopped.\n");
+ ::frc971::actions::shoot_action.FetchNextBlocking();
+ }
+ }
+ }
+
+ void RunAction();
+
+ protected:
+ // Returns true if the action should be canceled.
+ bool ShouldCancel() {
+ shoot_action.FetchLatest();
+ bool ans = !::frc971::actions::shoot_action->run;
+ if (ans) {
+ LOG(INFO, "Time to exit auto mode\n");
+ }
+ return ans;
+ }
+};
+
+void ShootAction::RunAction() {
+ if (!control_loops::shooter_queue_group.goal.MakeWithBuilder().shot_power(
+ shoot_action->shot_power).shot_requested(false)
+ .unload_requested(false).load_requested(false).Send()) {
+ LOG(ERROR, "Failed to send the shoot action\n");
+ return;
+ }
+
+ if (!control_loops::claw_queue_group.goal.MakeWithBuilder().bottom_angle(
+ shoot_action->shot_angle).separation_angle(0.0).intake(2.0)
+ .centering(1.0).Send()) {
+ LOG(WARNING, "sending claw goal failed\n");
+ return;
+ }
+
+ // Make sure we have the latest statuses.
+ control_loops::shooter_queue_group.status.FetchLatest();
+ control_loops::claw_queue_group.status.FetchLatest();
+ while (true) {
+ if (control_loops::shooter_queue_group.status->ready &&
+ control_loops::claw_queue_group.status->done) {
+ LOG(INFO, "Claw and Shooter ready for shooting.\n");
+ break;
+ }
+
+ // Wait until we have a new status.
+ control_loops::shooter_queue_group.status.FetchNextBlocking();
+ control_loops::claw_queue_group.status.FetchNextBlocking();
+
+ if (ShouldCancel()) return;
+ }
+
+ // Open up the claw in preparation for shooting.
+ if (!control_loops::claw_queue_group.goal.MakeWithBuilder().bottom_angle(
+ shoot_action->shot_angle).separation_angle(k2).intake(2.0)
+ .centering(1.0).Send()) {
+ LOG(WARNING, "sending claw goal failed\n");
+ return;
+ }
+
+ if (ShouldCancel()) return;
+
+ // Make sure we have the latest statuses.
+ control_loops::claw_queue_group.status.FetchLatest();
+ while (true) {
+ if (control_loops::claw_queue_group.status->separation > k1) {
+ LOG(INFO, "Opened up enough to shoot.\n");
+ break;
+ }
+
+ // Wait until we have a new status.
+ control_loops::claw_queue_group.status.FetchNextBlocking();
+
+ if (ShouldCancel()) return;
+ }
+}
+
+} // namespace actions
+} // namespace frc971
diff --git a/frc971/autonomous/shoot_action.q b/frc971/autonomous/shoot_action.q
new file mode 100644
index 0000000..15073cb
--- /dev/null
+++ b/frc971/autonomous/shoot_action.q
@@ -0,0 +1,21 @@
+package frc971.actions;
+
+queue_group ShootAction {
+ message Status {
+ bool running;
+ };
+
+ message Goal {
+ // If true, run this action. If false, cancel the action if it is
+ // currently running.
+ bool run; // Shot power in joules.
+ double shot_power;
+ // Claw angle when shooting.
+ bool shot_angle;
+ };
+
+ queue Goal goal;
+ queue Status status;
+};
+
+queue_group ShootAction shoot_action;