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/y2018/BUILD b/y2018/BUILD
index 7055f0a..044be19 100644
--- a/y2018/BUILD
+++ b/y2018/BUILD
@@ -25,8 +25,8 @@
":vision_proto",
"//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/network:team_number",
"//aos/stl_mutex",
@@ -78,7 +78,7 @@
"//aos:math",
"//aos/controls:control_loop",
"//aos/logging",
- "//aos/robot_state:robot_state_fbs",
+ "//frc971/input:robot_state_fbs",
"//aos/time",
"//aos/util:log_interval",
"//aos/util:phased_loop",
@@ -132,7 +132,7 @@
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
- "//aos/robot_state:config",
+ "//frc971/input:config",
"//frc971/control_loops/drivetrain:config",
],
)
diff --git a/y2018/joystick_reader.cc b/y2018/joystick_reader.cc
index 1f4a495..b5df79a 100644
--- a/y2018/joystick_reader.cc
+++ b/y2018/joystick_reader.cc
@@ -1,15 +1,13 @@
+#include <google/protobuf/stubs/stringprintf.h>
#include <math.h>
#include <stdio.h>
#include <string.h>
#include <unistd.h>
+
#include <mutex>
-#include <google/protobuf/stubs/stringprintf.h>
#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/network/team_number.h"
#include "aos/stl_mutex/stl_mutex.h"
@@ -17,6 +15,9 @@
#include "aos/util/log_interval.h"
#include "aos/vision/events/udp.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 "y2018/control_loops/drivetrain/drivetrain_base.h"
#include "y2018/control_loops/superstructure/arm/generated_graph.h"
#include "y2018/control_loops/superstructure/superstructure_goal_generated.h"
@@ -27,14 +28,14 @@
using ::aos::monotonic_clock;
using ::aos::events::ProtoTXUdpSocket;
using ::aos::events::RXUdpSocket;
-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;
-using ::y2018::control_loops::superstructure::arm::FrontPoints;
using ::y2018::control_loops::superstructure::arm::BackPoints;
+using ::y2018::control_loops::superstructure::arm::FrontPoints;
namespace y2018 {
namespace input {
@@ -83,10 +84,10 @@
const ButtonLocation kClawOpen(4, 4);
const ButtonLocation kDriverClawOpen(2, 4);
-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,
::y2018::control_loops::drivetrain::GetDrivetrainConfig(),
::aos::network::GetTeamNumber() == 971
@@ -94,13 +95,13 @@
: DrivetrainInputReader::InputType::kSteeringWheel,
{}),
superstructure_position_fetcher_(
- event_loop->MakeFetcher<
- ::y2018::control_loops::superstructure::Position>(
- ".frc971.control_loops.superstructure_queue.position")),
+ event_loop
+ ->MakeFetcher<::y2018::control_loops::superstructure::Position>(
+ ".frc971.control_loops.superstructure_queue.position")),
superstructure_status_fetcher_(
- event_loop->MakeFetcher<
- ::y2018::control_loops::superstructure::Status>(
- ".frc971.control_loops.superstructure_queue.status")),
+ event_loop
+ ->MakeFetcher<::y2018::control_loops::superstructure::Status>(
+ ".frc971.control_loops.superstructure_queue.status")),
superstructure_goal_sender_(
event_loop
->MakeSender<::y2018::control_loops::superstructure::Goal>(
@@ -111,7 +112,8 @@
StringPrintf("10.%d.%d.179", team / 100, team % 100), 5000));
}
- void HandleTeleop(const ::aos::input::driver_station::Data &data) override {
+ void HandleTeleop(
+ const ::frc971::input::driver_station::Data &data) override {
superstructure_position_fetcher_.Fetch();
superstructure_status_fetcher_.Fetch();
if (!superstructure_status_fetcher_.get() ||
@@ -182,8 +184,7 @@
intake_goal_ = -3.20;
}
- if (roller_voltage > 0.1 &&
- intake_goal_ > 0.0) {
+ if (roller_voltage > 0.1 && intake_goal_ > 0.0) {
if (superstructure_position_fetcher_->box_distance() < 0.10) {
roller_voltage -= 3.0;
}
diff --git a/y2018/y2018.json b/y2018/y2018.json
index ebb6c75..d8e21d2 100644
--- a/y2018/y2018.json
+++ b/y2018/y2018.json
@@ -38,7 +38,7 @@
}
],
"imports": [
- "../aos/robot_state/robot_state_config.json",
+ "../frc971/input/robot_state_config.json",
"../frc971/control_loops/drivetrain/drivetrain_config.json"
]
}