Move aos/input and aos/robot_state to frc971/input
Neither folder makes any sense as part of aos/.
Change-Id: I10e0532da4e688c18a9354012b783c43566fd2a1
diff --git a/y2012/BUILD b/y2012/BUILD
index 2784788..ea88af8 100644
--- a/y2012/BUILD
+++ b/y2012/BUILD
@@ -9,7 +9,7 @@
deps = [
"//aos:init",
"//aos/actions:action_lib",
- "//aos/input:joystick_input",
+ "//frc971/input:joystick_input",
"//aos/logging",
"//aos/time",
"//aos/util:log_interval",
@@ -44,7 +44,7 @@
"//aos/controls:control_loop_fbs",
"//aos/events:shm_event_loop",
"//aos/logging",
- "//aos/robot_state:robot_state_fbs",
+ "//frc971/input:robot_state_fbs",
"//aos/stl_mutex",
"//aos/time",
"//aos/util:log_interval",
diff --git a/y2012/joystick_reader.cc b/y2012/joystick_reader.cc
index e723fa4..50052c7 100644
--- a/y2012/joystick_reader.cc
+++ b/y2012/joystick_reader.cc
@@ -1,22 +1,21 @@
+#include <math.h>
#include <stdio.h>
#include <string.h>
#include <unistd.h>
-#include <math.h>
#include "aos/actions/actions.h"
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
-#include "aos/input/driver_station_data.h"
-#include "aos/input/joystick_input.h"
#include "aos/logging/logging.h"
#include "aos/time/time.h"
-
#include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
+#include "frc971/input/driver_station_data.h"
+#include "frc971/input/joystick_input.h"
#include "y2012/control_loops/accessories/accessories_generated.h"
-using ::aos::input::driver_station::ButtonLocation;
-using ::aos::input::driver_station::JoystickAxis;
-using ::aos::input::driver_station::ControlBit;
+using ::frc971::input::driver_station::ButtonLocation;
+using ::frc971::input::driver_station::ControlBit;
+using ::frc971::input::driver_station::JoystickAxis;
#define OLD_DS 0
@@ -76,10 +75,10 @@
const JoystickAxis kAdjustClawGoal(3, 2);
const JoystickAxis kAdjustClawSeparation(3, 1);
-class Reader : public ::aos::input::JoystickInput {
+class Reader : public ::frc971::input::JoystickInput {
public:
Reader(::aos::EventLoop *event_loop)
- : ::aos::input::JoystickInput(event_loop),
+ : ::frc971::input::JoystickInput(event_loop),
drivetrain_goal_sender_(
event_loop->MakeSender<::frc971::control_loops::drivetrain::Goal>(
"/drivetrain")),
@@ -89,14 +88,15 @@
"/accessories")),
is_high_gear_(false) {}
- void RunIteration(const ::aos::input::driver_station::Data &data) override {
+ void RunIteration(
+ const ::frc971::input::driver_station::Data &data) override {
if (!data.GetControlBit(ControlBit::kAutonomous)) {
HandleDrivetrain(data);
HandleTeleop(data);
}
}
- void HandleDrivetrain(const ::aos::input::driver_station::Data &data) {
+ void HandleDrivetrain(const ::frc971::input::driver_station::Data &data) {
const double wheel = -data.GetAxis(kSteeringWheel);
const double throttle = -data.GetAxis(kDriveThrottle);
if (data.PosEdge(kShiftLow)) {
@@ -118,16 +118,17 @@
}
}
- void HandleTeleop(const ::aos::input::driver_station::Data &data) {
+ void HandleTeleop(const ::frc971::input::driver_station::Data &data) {
auto builder = accessories_goal_sender_.MakeBuilder();
flatbuffers::Offset<flatbuffers::Vector<uint8_t>> solenoids_offset =
builder.fbb()->CreateVector<uint8_t>({data.IsPressed(kLongShot),
- data.IsPressed(kCloseShot),
- data.IsPressed(kFenderShot)});
+ data.IsPressed(kCloseShot),
+ data.IsPressed(kFenderShot)});
flatbuffers::Offset<flatbuffers::Vector<double>> sticks_offset =
- builder.fbb()->CreateVector<double>({data.GetAxis(kAdjustClawGoal),
- data.GetAxis(kAdjustClawSeparation)});
+ builder.fbb()->CreateVector<double>(
+ {data.GetAxis(kAdjustClawGoal),
+ data.GetAxis(kAdjustClawSeparation)});
y2012::control_loops::accessories::Message::Builder message_builder =
builder.MakeBuilder<y2012::control_loops::accessories::Message>();
diff --git a/y2012/wpilib_interface.cc b/y2012/wpilib_interface.cc
index 256306a..f611c93 100644
--- a/y2012/wpilib_interface.cc
+++ b/y2012/wpilib_interface.cc
@@ -1,12 +1,12 @@
+#include <inttypes.h>
#include <stdio.h>
#include <string.h>
#include <unistd.h>
-#include <inttypes.h>
#include <chrono>
-#include <thread>
-#include <mutex>
#include <functional>
+#include <mutex>
+#include <thread>
#include "frc971/wpilib/ahal/AnalogInput.h"
#include "frc971/wpilib/ahal/Compressor.h"
@@ -24,7 +24,6 @@
#include "aos/init.h"
#include "aos/logging/logging.h"
#include "aos/make_unique.h"
-#include "aos/robot_state/robot_state_generated.h"
#include "aos/stl_mutex/stl_mutex.h"
#include "aos/time/time.h"
#include "aos/util/log_interval.h"
@@ -32,6 +31,7 @@
#include "aos/util/wrapping_counter.h"
#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
#include "frc971/control_loops/drivetrain/drivetrain_position_generated.h"
+#include "frc971/input/robot_state_generated.h"
#include "frc971/wpilib/buffered_pcm.h"
#include "frc971/wpilib/buffered_solenoid.h"
#include "frc971/wpilib/dma.h"
@@ -53,15 +53,12 @@
namespace wpilib {
double drivetrain_translate(int32_t in) {
- return -static_cast<double>(in) /
- (256.0 /*cpr*/ * 4.0 /*4x*/) *
- 1 *
+ return -static_cast<double>(in) / (256.0 /*cpr*/ * 4.0 /*4x*/) * 1 *
(3.5 /*wheel diameter*/ * 2.54 / 100.0 * M_PI) * 2.0 / 2.0;
}
double drivetrain_velocity_translate(double in) {
- return (1.0 / in) / 256.0 /*cpr*/ *
- 1 *
+ return (1.0 / in) / 256.0 /*cpr*/ * 1 *
(3.5 /*wheel diameter*/ * 2.54 / 100.0 * M_PI) * 2.0 / 2.0;
}
@@ -291,5 +288,4 @@
} // namespace wpilib
} // namespace y2012
-
AOS_ROBOT_CLASS(::y2012::wpilib::WPILibRobot);