Factor out drivetrain functionality from y2016 auton actor
I hope that we can re-use this in the y2017 auton actor.
Change-Id: I1258a5ef99a706ebefaba8e2238bb80df68d586f
diff --git a/frc971/autonomous/auto.q b/frc971/autonomous/auto.q
index 5791034..1f639b1 100644
--- a/frc971/autonomous/auto.q
+++ b/frc971/autonomous/auto.q
@@ -1,8 +1,36 @@
package frc971.autonomous;
+import "aos/common/actions/actions.q";
+
message AutoControl {
// True if auto mode should be running, false otherwise.
bool run_auto;
};
queue AutoControl autonomous;
+
+message AutonomousMode {
+ // Mode read from the mode setting sensors.
+ int32_t mode;
+};
+
+queue AutonomousMode auto_mode;
+
+struct AutonomousActionParams {
+ // The mode from the sensors when auto starts.
+ int32_t mode;
+};
+
+queue_group AutonomousActionQueueGroup {
+ implements aos.common.actions.ActionQueueGroup;
+
+ message Goal {
+ uint32_t run;
+ AutonomousActionParams params;
+ };
+
+ queue Goal goal;
+ queue aos.common.actions.Status status;
+};
+
+queue_group AutonomousActionQueueGroup autonomous_action;