commit 6be011a29c34d389353453bc391d93587bcdf535
author Austin Schuh <austin.linux@gmail.com> Tue Mar 19 10:07:02 2013 +0000
committer Brian Silverman <brians> Sat Mar 30 16:35:11 2013 -0700
tree f663e83126d4ae4137420219b2439caf4e41fd3d
parent 8b43cafb28a25c2aba38c9447aeaf6555b527b25

Auto mode actually works now.  Tested, and it should work when the hardware works.

frc971/input/JoystickReader.cc

diff --git a/frc971/input/JoystickReader.cc b/frc971/input/JoystickReader.cc
index b160ae8..b40643e 100644
--- a/frc971/input/JoystickReader.cc
+++ b/frc971/input/JoystickReader.cc
@@ -7,11 +7,11 @@
 #include "aos/atom_code/input/FRCComm.h"
 #include "aos/atom_code/input/JoystickInput.h"
 
-#include "frc971/input/AutoMode.q.h"
 #include "frc971/control_loops/drivetrain/drivetrain.q.h"
 #include "frc971/queues/GyroAngle.q.h"
 #include "frc971/queues/Piston.q.h"
 #include "frc971/control_loops/wrist/wrist_motor.q.h"
+#include "frc971/autonomous/auto.q.h"
 #include "frc971/control_loops/index/index_motor.q.h"
 #include "frc971/control_loops/shooter/shooter_motor.q.h"
 #include "frc971/control_loops/angle_adjust/angle_adjust_motor.q.h"
@@ -40,11 +40,11 @@
     if (Pressed(0, AUTONOMOUS)) {
       if (PosEdge(0, ENABLED)){
         LOG(INFO, "Starting auto mode\n");
-        AutoMode.Start();
+        ::frc971::autonomous::autonomous.MakeWithBuilder().run_auto(true).Send();
       }
       if (NegEdge(0, ENABLED)) {
         LOG(INFO, "Stopping auto mode\n");
-        AutoMode.Stop();
+        ::frc971::autonomous::autonomous.MakeWithBuilder().run_auto(false).Send();
       }
     } else {  // teleop
       bool is_control_loop_driving = false;
@@ -104,6 +104,7 @@
       }
 
       // Where the wrist should be to pick up a frisbee.
+      // TODO(brians): Make these globally accessible and clean up auto.
       static const double kWristPickup = -0.633;
       static const double kWristNearGround = -0.4;
       // Where the wrist gets stored when up.

frc971/input/input.gyp

diff --git a/frc971/input/input.gyp b/frc971/input/input.gyp
index 47400d1..5ac253a 100644
--- a/frc971/input/input.gyp
+++ b/frc971/input/input.gyp
@@ -28,7 +28,8 @@
         '<(DEPTH)/frc971/control_loops/wrist/wrist.gyp:wrist_loop',
         '<(DEPTH)/frc971/control_loops/index/index.gyp:index_loop',
         '<(DEPTH)/frc971/control_loops/shooter/shooter.gyp:shooter_loop',
-        '<(DEPTH)/frc971/control_loops/control_loops.gyp:control_loops',
+        '<(DEPTH)/frc971/control_loops/drivetrain/drivetrain.gyp:drivetrain_loop',
+        '<(DEPTH)/frc971/autonomous/autonomous.gyp:auto_queue',
       ],
     },
     {
@@ -47,7 +48,6 @@
         '<(DEPTH)/frc971/control_loops/wrist/wrist.gyp:wrist_loop',
         '<(DEPTH)/frc971/control_loops/index/index.gyp:index_loop',
         '<(DEPTH)/frc971/control_loops/shooter/shooter.gyp:shooter_loop',
-        '<(DEPTH)/frc971/control_loops/control_loops.gyp:control_loops',
       ],
     },
     {
@@ -99,19 +99,5 @@
         '<(AOS)/build/aos.gyp:logging',
       ],
     },
-    {
-      'target_name': 'AutoMode',
-      'type': 'executable',
-      'sources': [
-        'AutoMode.cc',
-      ],
-      'dependencies': [
-        '<(AOS)/build/aos.gyp:libaos',
-        '<(DEPTH)/frc971/queues/queues.gyp:queues',
-        'actions',
-# TODO(brians) this shouldn't need to be here
-        '<(AOS)/atom_code/atom_code.gyp:init',
-      ],
-    },
   ],
 }