Updated 2023 Autonomous
This commit includes the first draft of the autonomous
actor, which we will be testing and adjusting as needed.
This also includes sending the superstructure goals and
a preloaded cone test in the lib test file.
Signed-off-by: Logan Isaacson <100030671@mvla.net>
Change-Id: I01ec7859989a4dfd41251b44d3c1f98a8e8461b6
diff --git a/y2023/autonomous/auto_splines.h b/y2023/autonomous/auto_splines.h
index 1280693..5c3bff9 100644
--- a/y2023/autonomous/auto_splines.h
+++ b/y2023/autonomous/auto_splines.h
@@ -1,10 +1,12 @@
-#ifndef Y2023_ACTORS_AUTO_SPLINES_H_
-#define Y2023_ACTORS_AUTO_SPLINES_H_
+#ifndef Y2023_AUTONOMOUS_AUTO_SPLINES_H_
+#define Y2023_AUTONOMOUS_AUTO_SPLINES_H_
#include "aos/events/event_loop.h"
+#include "aos/flatbuffer_merge.h"
#include "frc971/control_loops/control_loops_generated.h"
#include "frc971/input/joystick_state_generated.h"
#include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
+#include "frc971/input/joystick_state_generated.h"
/*
The cooridinate system for the autonomous splines is the same as the spline
@@ -13,13 +15,23 @@
*/
namespace y2023 {
-namespace actors {
+namespace autonomous {
class AutonomousSplines {
public:
AutonomousSplines()
- : test_spline_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
- "splines/test_spline.json")) {}
+ : test_spline_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
+ "splines/test_spline.json")),
+ spline_1_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
+ "splines/spline_1.json")),
+ spline_2_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
+ "splines/spline_2.json")),
+ spline_3_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
+ "splines/spline_3.json")),
+ spline_4_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
+ "splines/spline_4.json")),
+ spline_5_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
+ "splines/spline_5.json")) {}
static flatbuffers::Offset<frc971::MultiSpline> BasicSSpline(
aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
*builder,
@@ -33,11 +45,37 @@
aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
*builder,
aos::Alliance alliance);
+ flatbuffers::Offset<frc971::MultiSpline> Spline1(
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
+ aos::Alliance alliance);
+ flatbuffers::Offset<frc971::MultiSpline> Spline2(
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
+ aos::Alliance alliance);
+ flatbuffers::Offset<frc971::MultiSpline> Spline3(
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
+ aos::Alliance alliance);
+ flatbuffers::Offset<frc971::MultiSpline> Spline4(
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
+ aos::Alliance alliance);
+ flatbuffers::Offset<frc971::MultiSpline> Spline5(
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
+ aos::Alliance alliance);
+
private:
aos::FlatbufferDetachedBuffer<frc971::MultiSpline> test_spline_;
+ aos::FlatbufferDetachedBuffer<frc971::MultiSpline> spline_1_;
+ aos::FlatbufferDetachedBuffer<frc971::MultiSpline> spline_2_;
+ aos::FlatbufferDetachedBuffer<frc971::MultiSpline> spline_3_;
+ aos::FlatbufferDetachedBuffer<frc971::MultiSpline> spline_4_;
+ aos::FlatbufferDetachedBuffer<frc971::MultiSpline> spline_5_;
};
-} // namespace actors
+} // namespace autonomous
} // namespace y2023
-#endif // Y2023_ACTORS_AUTO_SPLINES_H_
+#endif // Y2023_AUTONOMOUS_AUTO_SPLINES_H_