commit 4b652c91cbf16689ac402c3caa3774036d89e650
author Austin Schuh <austin.linux@gmail.com> Mon May 27 13:22:27 2019 -0700
committer Austin Schuh <austin.linux@gmail.com> Wed May 29 20:45:43 2019 -0700
tree 9fb47bfca40ac5f87ff0aca3719ed74b6b95426f
parent 30020d967976f0000dc56add6ff92d8f9a0886cc

Convert BallDetector to event loops.

Change-Id: Ic2716e5cc6d2573835aa039ce50d1ed96c882eed

y2016/control_loops/superstructure/superstructure.cc

diff --git a/y2016/control_loops/superstructure/superstructure.cc b/y2016/control_loops/superstructure/superstructure.cc
index 984bcc3..c3155bf 100644
--- a/y2016/control_loops/superstructure/superstructure.cc
+++ b/y2016/control_loops/superstructure/superstructure.cc
@@ -229,6 +229,9 @@
                                const ::std::string &name)
     : aos::controls::ControlLoop<control_loops::SuperstructureQueue>(event_loop,
                                                                      name),
+      ball_detector_fetcher_(
+          event_loop->MakeFetcher<::y2016::sensors::BallDetector>(
+              ".y2016.sensors.ball_detector")),
       collision_avoidance_(&intake_, &arm_) {}
 
 bool Superstructure::IsArmNear(double shoulder_tolerance,
@@ -704,10 +707,10 @@
     output->unfold_climber = false;
     if (unsafe_goal) {
       // Ball detector lights.
-      ::y2016::sensors::ball_detector.FetchLatest();
+      ball_detector_fetcher_.Fetch();
       bool ball_detected = false;
-      if (::y2016::sensors::ball_detector.get()) {
-        ball_detected = ::y2016::sensors::ball_detector->voltage > 2.5;
+      if (ball_detector_fetcher_.get()) {
+        ball_detected = ball_detector_fetcher_->voltage > 2.5;
       }
 
       // Climber.

y2016/control_loops/superstructure/superstructure.h

diff --git a/y2016/control_loops/superstructure/superstructure.h b/y2016/control_loops/superstructure/superstructure.h
index 7215067..610db8e 100644
--- a/y2016/control_loops/superstructure/superstructure.h
+++ b/y2016/control_loops/superstructure/superstructure.h
@@ -10,6 +10,7 @@
 #include "frc971/zeroing/zeroing.h"
 #include "y2016/control_loops/superstructure/superstructure.q.h"
 #include "y2016/control_loops/superstructure/superstructure_controls.h"
+#include "y2016/queues/ball_detector.q.h"
 
 namespace y2016 {
 namespace control_loops {
@@ -222,6 +223,9 @@
   friend class testing::SuperstructureTest_UpperHardstopStartup_Test;
   friend class testing::SuperstructureTest_DisabledWhileZeroingHigh_Test;
   friend class testing::SuperstructureTest_DisabledWhileZeroingLow_Test;
+
+  ::aos::Fetcher<::y2016::sensors::BallDetector> ball_detector_fetcher_;
+
   Intake intake_;
   Arm arm_;