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/y2019/joystick_reader.cc b/y2019/joystick_reader.cc
index 823507d..7351130 100644
--- a/y2019/joystick_reader.cc
+++ b/y2019/joystick_reader.cc
@@ -2,14 +2,11 @@
#include <stdio.h>
#include <string.h>
#include <unistd.h>
+
#include <chrono>
#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/input/joystick_input.h"
#include "aos/logging/logging.h"
#include "aos/network/team_number.h"
#include "aos/util/log_interval.h"
@@ -17,7 +14,10 @@
#include "external/com_google_protobuf/src/google/protobuf/stubs/stringprintf.h"
#include "frc971/autonomous/base_autonomous_actor.h"
#include "frc971/control_loops/drivetrain/localizer_generated.h"
-
+#include "frc971/input/action_joystick_input.h"
+#include "frc971/input/driver_station_data.h"
+#include "frc971/input/drivetrain_input.h"
+#include "frc971/input/joystick_input.h"
#include "y2019/camera_log_generated.h"
#include "y2019/control_loops/drivetrain/drivetrain_base.h"
#include "y2019/control_loops/drivetrain/target_selector_generated.h"
@@ -27,16 +27,16 @@
#include "y2019/vision.pb.h"
using aos::events::ProtoTXUdpSocket;
-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 frc971::CreateProfileParameters;
using frc971::control_loops::CreateStaticZeroingSingleDOFProfiledSubsystemGoal;
using frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal;
using frc971::control_loops::drivetrain::LocalizerControl;
-using y2019::control_loops::superstructure::SuctionGoal;
+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 y2019::control_loops::superstructure::CreateSuctionGoal;
+using y2019::control_loops::superstructure::SuctionGoal;
namespace chrono = ::std::chrono;
@@ -138,13 +138,13 @@
const ElevatorWristPosition kBallIntakePos{0.309, 2.13};
-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,
::y2019::control_loops::drivetrain::GetDrivetrainConfig(),
- ::aos::input::DrivetrainInputReader::InputType::kPistol,
+ ::frc971::input::DrivetrainInputReader::InputType::kPistol,
{.run_teleop_in_auto = true,
.cancel_auto_button = kCancelAutoMode}),
target_selector_hint_sender_(
@@ -186,7 +186,8 @@
switch_ball_ = false;
}
- void HandleTeleop(const ::aos::input::driver_station::Data &data) override {
+ void HandleTeleop(
+ const ::frc971::input::driver_station::Data &data) override {
::aos::monotonic_clock::time_point monotonic_now =
::aos::monotonic_clock::now();
superstructure_position_fetcher_.Fetch();
@@ -270,16 +271,16 @@
const double cargo_joy_x = data.GetAxis(kCargoSelectorX);
if (cargo_joy_y > 0.5) {
target_selector_hint_builder.add_suggested_target(
- control_loops::drivetrain::SelectionHint::NEAR_SHIP);
+ control_loops::drivetrain::SelectionHint::NEAR_SHIP);
} else if (cargo_joy_y < -0.5) {
target_selector_hint_builder.add_suggested_target(
control_loops::drivetrain::SelectionHint::FAR_SHIP);
} else if (::std::abs(cargo_joy_x) > 0.5) {
target_selector_hint_builder.add_suggested_target(
- control_loops::drivetrain::SelectionHint::MID_SHIP);
+ control_loops::drivetrain::SelectionHint::MID_SHIP);
} else {
target_selector_hint_builder.add_suggested_target(
- control_loops::drivetrain::SelectionHint::NONE);
+ control_loops::drivetrain::SelectionHint::NONE);
}
}
if (!builder.Send(target_selector_hint_builder.Finish())) {
@@ -514,8 +515,10 @@
->mutate_max_acceleration(1.25);
} else if (data.IsPressed(kHalfStilt)) {
was_above_ = false;
- mutable_superstructure_goal->mutable_stilts()->mutate_unsafe_goal ( 0.345);
- mutable_superstructure_goal->mutable_stilts()->mutable_profile_params()->mutate_max_velocity ( 0.65);
+ mutable_superstructure_goal->mutable_stilts()->mutate_unsafe_goal(0.345);
+ mutable_superstructure_goal->mutable_stilts()
+ ->mutable_profile_params()
+ ->mutate_max_velocity(0.65);
} else if (data.IsPressed(kDeployStilt) || was_above_) {
mutable_superstructure_goal->mutable_stilts()->mutate_unsafe_goal(
kDeployStiltPosition);