Move aos/controls to frc971/control_loops
Also put what was aos/controls/control_loops.fbs in y2012/control_loops
because that's the only user.
Change-Id: I8f402b0708103077e135a41e55ef5e4f23681d87
Signed-off-by: James Kuszmaul <jabukuszmaul@gmail.com>
diff --git a/y2019/control_loops/superstructure/BUILD b/y2019/control_loops/superstructure/BUILD
index d89b1f3..29e04fe 100644
--- a/y2019/control_loops/superstructure/BUILD
+++ b/y2019/control_loops/superstructure/BUILD
@@ -66,7 +66,7 @@
":superstructure_position_fbs",
":superstructure_status_fbs",
":vacuum",
- "//aos/controls:control_loop",
+ "//frc971/control_loops:control_loop",
"//aos/events:event_loop",
"//frc971/control_loops/drivetrain:drivetrain_status_fbs",
"//y2019:constants",
@@ -90,7 +90,7 @@
":superstructure_position_fbs",
":superstructure_status_fbs",
"//aos:math",
- "//aos/controls:control_loop_test",
+ "//frc971/control_loops:control_loop_test",
"//aos/testing:googletest",
"//aos/time",
"//frc971/control_loops:capped_test_plant",
@@ -127,7 +127,7 @@
deps = [
":superstructure_goal_fbs",
":superstructure_status_fbs",
- "//aos/controls:control_loop",
+ "//frc971/control_loops:control_loop",
"//frc971:constants",
"//frc971/control_loops:control_loops_fbs",
"//frc971/control_loops:profiled_subsystem_fbs",
@@ -146,7 +146,7 @@
deps = [
":superstructure_goal_fbs",
":superstructure_output_fbs",
- "//aos/controls:control_loop",
+ "//frc971/control_loops:control_loop",
"//frc971/control_loops:control_loops_fbs",
"//frc971/control_loops:profiled_subsystem_fbs",
],
diff --git a/y2019/control_loops/superstructure/superstructure.cc b/y2019/control_loops/superstructure/superstructure.cc
index 4246397..9e7a5fe 100644
--- a/y2019/control_loops/superstructure/superstructure.cc
+++ b/y2019/control_loops/superstructure/superstructure.cc
@@ -10,13 +10,13 @@
namespace control_loops {
namespace superstructure {
-using frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus;
using frc971::control_loops::AbsoluteEncoderProfiledJointStatus;
+using frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus;
Superstructure::Superstructure(::aos::EventLoop *event_loop,
const ::std::string &name)
- : aos::controls::ControlLoop<Goal, Position, Status, Output>(event_loop,
- name),
+ : frc971::controls::ControlLoop<Goal, Position, Status, Output>(event_loop,
+ name),
status_light_sender_(
event_loop->MakeSender<::y2019::StatusLight>("/superstructure")),
drivetrain_status_fetcher_(
diff --git a/y2019/control_loops/superstructure/superstructure.h b/y2019/control_loops/superstructure/superstructure.h
index f4a23d9..f86d64c 100644
--- a/y2019/control_loops/superstructure/superstructure.h
+++ b/y2019/control_loops/superstructure/superstructure.h
@@ -1,7 +1,7 @@
#ifndef Y2019_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_
#define Y2019_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_
-#include "aos/controls/control_loop.h"
+#include "frc971/control_loops/control_loop.h"
#include "aos/events/event_loop.h"
#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
#include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h"
@@ -19,7 +19,7 @@
namespace superstructure {
class Superstructure
- : public ::aos::controls::ControlLoop<Goal, Position, Status, Output> {
+ : public ::frc971::controls::ControlLoop<Goal, Position, Status, Output> {
public:
explicit Superstructure(::aos::EventLoop *event_loop,
const ::std::string &name = "/superstructure");
diff --git a/y2019/control_loops/superstructure/superstructure_lib_test.cc b/y2019/control_loops/superstructure/superstructure_lib_test.cc
index 58bac76..cabb4e2 100644
--- a/y2019/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2019/control_loops/superstructure/superstructure_lib_test.cc
@@ -3,8 +3,8 @@
#include <chrono>
#include <memory>
-#include "aos/controls/control_loop_test.h"
#include "frc971/control_loops/capped_test_plant.h"
+#include "frc971/control_loops/control_loop_test.h"
#include "frc971/control_loops/position_sensor_sim.h"
#include "frc971/control_loops/team_number_test_environment.h"
#include "gtest/gtest.h"
@@ -399,10 +399,10 @@
CollisionAvoidance collision_avoidance_;
};
-class SuperstructureTest : public ::aos::testing::ControlLoopTest {
+class SuperstructureTest : public ::frc971::testing::ControlLoopTest {
protected:
SuperstructureTest()
- : ::aos::testing::ControlLoopTest(
+ : ::frc971::testing::ControlLoopTest(
aos::configuration::ReadConfig("y2019/config.json"),
chrono::microseconds(5050)),
test_event_loop_(MakeEventLoop("test")),
@@ -570,7 +570,6 @@
{
auto builder = superstructure_goal_sender_.MakeBuilder();
-
flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
elevator_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
*builder.fbb(), constants::Values::kElevatorRange().upper);