commit 713c5ce716a6c21d199b0b2d028307fbfb8efaf6
author James Kuszmaul <jabukuszmaul@gmail.com> Sat Mar 04 18:23:24 2023 -0800
committer James Kuszmaul <jabukuszmaul@gmail.com> Sun Mar 05 16:07:22 2023 -0800
tree 9d813def941b932920adff6d948984adbc83040a
parent 256d11b8bf658e10d52901f9de5b80faca1806d3

Splines can run in 2023 autonomous.

Mostly copying boilerplate from 2022, with 2023-specific additions like
handling field mirroring correctly.

Change-Id: Ic8cdfde4982a3637ce7c0655800954e13ad60cf9
Signed-off-by: James Kuszmaul <jabukuszmaul@gmail.com>

y2023/autonomous/auto_splines.h

diff --git a/y2023/autonomous/auto_splines.h b/y2023/autonomous/auto_splines.h
index 68795e6..1280693 100644
--- a/y2023/autonomous/auto_splines.h
+++ b/y2023/autonomous/auto_splines.h
@@ -3,6 +3,7 @@
 
 #include "aos/events/event_loop.h"
 #include "frc971/control_loops/control_loops_generated.h"
+#include "frc971/input/joystick_state_generated.h"
 #include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
 /*
 
@@ -16,10 +17,24 @@
 
 class AutonomousSplines {
  public:
+  AutonomousSplines()
+      : test_spline_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
+            "splines/test_spline.json")) {}
   static flatbuffers::Offset<frc971::MultiSpline> BasicSSpline(
-      aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder);
+      aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+          *builder,
+      aos::Alliance alliance);
   static flatbuffers::Offset<frc971::MultiSpline> StraightLine(
-      aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder);
+      aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+          *builder,
+      aos::Alliance alliance);
+
+  flatbuffers::Offset<frc971::MultiSpline> TestSpline(
+      aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+          *builder,
+      aos::Alliance alliance);
+ private:
+  aos::FlatbufferDetachedBuffer<frc971::MultiSpline> test_spline_;
 };
 
 }  // namespace actors