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/y2017/BUILD b/y2017/BUILD
index a43654d..92779c9 100644
--- a/y2017/BUILD
+++ b/y2017/BUILD
@@ -36,8 +36,8 @@
":constants",
"//aos:init",
"//aos/actions:action_lib",
- "//aos/input:action_joystick_input",
- "//aos/input:drivetrain_input",
+ "//frc971/input:action_joystick_input",
+ "//frc971/input:drivetrain_input",
"//aos/logging",
"//aos/time",
"//aos/util:log_interval",
@@ -61,7 +61,7 @@
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
- "//aos/robot_state:config",
+ "//frc971/input:config",
"//frc971/control_loops/drivetrain:config",
],
)
@@ -79,7 +79,7 @@
"//aos:math",
"//aos/controls:control_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/y2017/joystick_reader.cc b/y2017/joystick_reader.cc
index 58a3918..628de2a 100644
--- a/y2017/joystick_reader.cc
+++ b/y2017/joystick_reader.cc
@@ -5,23 +5,23 @@
#include "aos/actions/actions.h"
#include "aos/init.h"
-#include "aos/input/action_joystick_input.h"
-#include "aos/input/driver_station_data.h"
-#include "aos/input/drivetrain_input.h"
#include "aos/logging/logging.h"
#include "aos/time/time.h"
#include "aos/util/log_interval.h"
#include "frc971/autonomous/base_autonomous_actor.h"
+#include "frc971/input/action_joystick_input.h"
+#include "frc971/input/driver_station_data.h"
+#include "frc971/input/drivetrain_input.h"
#include "y2017/constants.h"
#include "y2017/control_loops/drivetrain/drivetrain_base.h"
#include "y2017/control_loops/superstructure/superstructure_goal_generated.h"
#include "y2017/control_loops/superstructure/superstructure_status_generated.h"
-using ::aos::input::driver_station::ButtonLocation;
-using ::aos::input::driver_station::ControlBit;
-using ::aos::input::driver_station::JoystickAxis;
-using ::aos::input::driver_station::POVLocation;
-using ::aos::input::DrivetrainInputReader;
+using ::frc971::input::DrivetrainInputReader;
+using ::frc971::input::driver_station::ButtonLocation;
+using ::frc971::input::driver_station::ControlBit;
+using ::frc971::input::driver_station::JoystickAxis;
+using ::frc971::input::driver_station::POVLocation;
namespace y2017 {
namespace input {
@@ -47,10 +47,10 @@
const ButtonLocation kExtra2(3, 10);
const ButtonLocation kHang(3, 2);
-class Reader : public ::aos::input::ActionJoystickInput {
+class Reader : public ::frc971::input::ActionJoystickInput {
public:
Reader(::aos::EventLoop *event_loop)
- : ::aos::input::ActionJoystickInput(
+ : ::frc971::input::ActionJoystickInput(
event_loop,
::y2017::control_loops::drivetrain::GetDrivetrainConfig(),
DrivetrainInputReader::InputType::kSteeringWheel, {}),
@@ -65,7 +65,7 @@
enum class ShotDistance { VISION_SHOT, MIDDLE_SHOT, FAR_SHOT };
- void HandleTeleop(const ::aos::input::driver_station::Data &data) {
+ void HandleTeleop(const ::frc971::input::driver_station::Data &data) {
// Default the intake to in.
intake_goal_ = 0.07;
bool lights_on = false;
@@ -113,9 +113,8 @@
last_shot_distance_ = ShotDistance::FAR_SHOT;
}
- if (data.IsPressed(kVisionAlign) ||
- data.IsPressed(kMiddleShot) || data.IsPressed(kFarShot) ||
- data.IsPressed(kFire)) {
+ if (data.IsPressed(kVisionAlign) || data.IsPressed(kMiddleShot) ||
+ data.IsPressed(kFarShot) || data.IsPressed(kFire)) {
switch (last_shot_distance_) {
case ShotDistance::VISION_SHOT:
hood_goal_ = 0.10;
@@ -135,23 +134,24 @@
break;
}
} else {
- //hood_goal_ = 0.15;
+ // hood_goal_ = 0.15;
shooter_velocity_ = 0.0;
}
if (data.IsPressed(kExtra1)) {
- //turret_goal_ = -M_PI * 3.0 / 4.0;
+ // turret_goal_ = -M_PI * 3.0 / 4.0;
turret_goal_ += 0.150;
}
if (data.IsPressed(kExtra2)) {
- //turret_goal_ = M_PI * 3.0 / 4.0;
+ // turret_goal_ = M_PI * 3.0 / 4.0;
turret_goal_ -= 0.150;
}
turret_goal_ = ::std::max(::std::min(turret_goal_, M_PI), -M_PI);
fire_ = data.IsPressed(kFire) && shooter_velocity_ != 0.0;
if (data.IsPressed(kVisionAlign)) {
- fire_ = fire_ && superstructure_status_fetcher_->turret()->vision_tracking();
+ fire_ =
+ fire_ && superstructure_status_fetcher_->turret()->vision_tracking();
}
auto builder = superstructure_goal_sender_.MakeBuilder();
@@ -206,7 +206,7 @@
indexer_angular_velocity = 1.0;
} else if (fire_) {
indexer_voltage_rollers = 12.0;
- switch (last_shot_distance_) {
+ switch (last_shot_distance_) {
case ShotDistance::VISION_SHOT:
indexer_angular_velocity = -1.25 * M_PI;
break;
@@ -247,7 +247,7 @@
flatbuffers::Offset<frc971::ProfileParameters>
intake_profile_parameters_offset =
- frc971::CreateProfileParameters(*builder.fbb(), 0.5, 3.0);
+ frc971::CreateProfileParameters(*builder.fbb(), 0.5, 3.0);
superstructure::IntakeGoal::Builder intake_goal_builder =
builder.MakeBuilder<superstructure::IntakeGoal>();
diff --git a/y2017/wpilib_interface.cc b/y2017/wpilib_interface.cc
index 84e779d..14029e3 100644
--- a/y2017/wpilib_interface.cc
+++ b/y2017/wpilib_interface.cc
@@ -26,7 +26,6 @@
#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/compiler_memory_barrier.h"
@@ -38,6 +37,7 @@
#include "frc971/control_loops/control_loops_generated.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/ADIS16448.h"
#include "frc971/wpilib/buffered_pcm.h"
#include "frc971/wpilib/buffered_solenoid.h"
@@ -61,8 +61,8 @@
#endif
namespace superstructure = ::y2017::control_loops::superstructure;
-using ::y2017::constants::Values;
using ::aos::monotonic_clock;
+using ::y2017::constants::Values;
namespace chrono = ::std::chrono;
using namespace frc;
using aos::make_unique;
diff --git a/y2017/y2017.json b/y2017/y2017.json
index 90aa77c..cc10744 100644
--- a/y2017/y2017.json
+++ b/y2017/y2017.json
@@ -28,7 +28,7 @@
}
],
"imports": [
- "../aos/robot_state/robot_state_config.json",
+ "../frc971/input/robot_state_config.json",
"../frc971/control_loops/drivetrain/drivetrain_config.json"
]
}