Switch all robots over to use EventLoop
Stop using the old QueueGroup constructor for ControlLoop
Change-Id: I027febf86e75399a97cdb4dc50dbc475705e0393
diff --git a/y2017_bot3/control_loops/superstructure/BUILD b/y2017_bot3/control_loops/superstructure/BUILD
index 17cfc20..9c9f750 100644
--- a/y2017_bot3/control_loops/superstructure/BUILD
+++ b/y2017_bot3/control_loops/superstructure/BUILD
@@ -1,47 +1,48 @@
-package(default_visibility = ['//visibility:public'])
+package(default_visibility = ["//visibility:public"])
-load('//aos/build:queues.bzl', 'queue_library')
+load("//aos/build:queues.bzl", "queue_library")
queue_library(
- name = 'superstructure_queue',
- srcs = [
- 'superstructure.q',
- ],
- deps = [
- '//aos/controls:control_loop_queues',
- '//frc971/control_loops:profiled_subsystem_queue',
- '//frc971/control_loops:queues',
- ],
+ name = "superstructure_queue",
+ srcs = [
+ "superstructure.q",
+ ],
+ deps = [
+ "//aos/controls:control_loop_queues",
+ "//frc971/control_loops:profiled_subsystem_queue",
+ "//frc971/control_loops:queues",
+ ],
)
cc_library(
- name = 'superstructure_lib',
- srcs = [
- 'superstructure.cc',
- ],
- hdrs = [
- 'superstructure.h',
- ],
- deps = [
- ':superstructure_queue',
- '//aos/controls:control_loop',
- '//aos/util:trapezoid_profile',
- '//aos:math',
- '//frc971/control_loops:profiled_subsystem',
- '//frc971/control_loops:simple_capped_state_feedback_loop',
- '//frc971/control_loops:state_feedback_loop',
- '//frc971/zeroing',
- ],
+ name = "superstructure_lib",
+ srcs = [
+ "superstructure.cc",
+ ],
+ hdrs = [
+ "superstructure.h",
+ ],
+ deps = [
+ ":superstructure_queue",
+ "//aos:math",
+ "//aos/controls:control_loop",
+ "//aos/util:trapezoid_profile",
+ "//frc971/control_loops:profiled_subsystem",
+ "//frc971/control_loops:simple_capped_state_feedback_loop",
+ "//frc971/control_loops:state_feedback_loop",
+ "//frc971/zeroing",
+ ],
)
cc_binary(
- name = 'superstructure',
- srcs = [
- 'superstructure_main.cc',
- ],
- deps = [
- '//aos:init',
- ':superstructure_lib',
- ':superstructure_queue',
- ],
+ name = "superstructure",
+ srcs = [
+ "superstructure_main.cc",
+ ],
+ deps = [
+ ":superstructure_lib",
+ ":superstructure_queue",
+ "//aos:init",
+ "//aos/events:shm-event-loop",
+ ],
)
diff --git a/y2017_bot3/control_loops/superstructure/superstructure.cc b/y2017_bot3/control_loops/superstructure/superstructure.cc
index 1b91c69..e75ffed 100644
--- a/y2017_bot3/control_loops/superstructure/superstructure.cc
+++ b/y2017_bot3/control_loops/superstructure/superstructure.cc
@@ -8,10 +8,10 @@
namespace control_loops {
namespace superstructure {
-Superstructure::Superstructure(
- control_loops::SuperstructureQueue *superstructure_queue)
- : aos::controls::ControlLoop<control_loops::SuperstructureQueue>(
- superstructure_queue) {}
+Superstructure::Superstructure(::aos::EventLoop *event_loop,
+ const ::std::string &name)
+ : aos::controls::ControlLoop<control_loops::SuperstructureQueue>(event_loop,
+ name) {}
void Superstructure::RunIteration(
const control_loops::SuperstructureQueue::Goal *unsafe_goal,
diff --git a/y2017_bot3/control_loops/superstructure/superstructure.h b/y2017_bot3/control_loops/superstructure/superstructure.h
index 99a75e3..a9378eb 100644
--- a/y2017_bot3/control_loops/superstructure/superstructure.h
+++ b/y2017_bot3/control_loops/superstructure/superstructure.h
@@ -16,9 +16,9 @@
class Superstructure
: public ::aos::controls::ControlLoop<control_loops::SuperstructureQueue> {
public:
- explicit Superstructure(
- control_loops::SuperstructureQueue *my_superstructure =
- &control_loops::superstructure_queue);
+ explicit Superstructure(::aos::EventLoop *event_loop,
+ const ::std::string &name =
+ ".y2017_bot3.control_loops.superstructure_queue");
static constexpr double kOperatingVoltage = 12.0;
diff --git a/y2017_bot3/control_loops/superstructure/superstructure_main.cc b/y2017_bot3/control_loops/superstructure/superstructure_main.cc
index 378b498..38df40e 100644
--- a/y2017_bot3/control_loops/superstructure/superstructure_main.cc
+++ b/y2017_bot3/control_loops/superstructure/superstructure_main.cc
@@ -4,7 +4,9 @@
int main() {
::aos::Init();
- ::y2017_bot3::control_loops::superstructure::Superstructure superstructure;
+ ::aos::ShmEventLoop event_loop;
+ ::y2017_bot3::control_loops::superstructure::Superstructure superstructure(
+ &event_loop);
superstructure.Run();
::aos::Cleanup();
return 0;