commit 7eed2de9427cdbd22e901b081ccce8ddda8815bd
author Austin Schuh <austin.linux@gmail.com> Sat May 25 14:34:40 2019 -0700
committer Austin Schuh <austin.linux@gmail.com> Sun May 26 14:39:50 2019 -0700
tree 8e1349f2ef96488246dbb18f85c64bbdd8c6a14f
parent 3578a2e706cc344371fd8d2c8928718460238fe3

Convert y2014 AutoMode queue to an EventLoop

Change-Id: Ic9d6e80da8c955eb8c61e6b2b2fba220da1b62ec

y2014/actors/autonomous_actor.cc

diff --git a/y2014/actors/autonomous_actor.cc b/y2014/actors/autonomous_actor.cc
index e241d11..d4818e2 100644
--- a/y2014/actors/autonomous_actor.cc
+++ b/y2014/actors/autonomous_actor.cc
@@ -33,6 +33,8 @@
     ::frc971::autonomous::AutonomousActionQueueGroup *s)
     : frc971::autonomous::BaseAutonomousActor(
           event_loop, s, control_loops::GetDrivetrainConfig()),
+      auto_mode_fetcher_(event_loop->MakeFetcher<::y2014::sensors::AutoMode>(
+          ".y2014.sensors.auto_mode")),
       hot_goal_fetcher_(
           event_loop->MakeFetcher<::y2014::HotGoal>(".y2014.hot_goal")) {}
 
@@ -239,18 +241,17 @@
   LOG(INFO, "Handling auto mode\n");
 
   AutoVersion auto_version;
-  ::y2014::sensors::auto_mode.FetchLatest();
-  if (!::y2014::sensors::auto_mode.get()) {
+  auto_mode_fetcher_.Fetch();
+  if (!auto_mode_fetcher_.get()) {
     LOG(WARNING, "not sure which auto mode to use\n");
     auto_version = AutoVersion::kStraight;
   } else {
     static const double kSelectorMin = 0.2, kSelectorMax = 4.4;
 
     const double kSelectorStep = (kSelectorMax - kSelectorMin) / 3.0;
-    if (::y2014::sensors::auto_mode->voltage < kSelectorStep + kSelectorMin) {
+    if (auto_mode_fetcher_->voltage < kSelectorStep + kSelectorMin) {
       auto_version = AutoVersion::kSingleHot;
-    } else if (::y2014::sensors::auto_mode->voltage <
-               2 * kSelectorStep + kSelectorMin) {
+    } else if (auto_mode_fetcher_->voltage < 2 * kSelectorStep + kSelectorMin) {
       auto_version = AutoVersion::kStraight;
     } else {
       auto_version = AutoVersion::kDoubleHot;