Updated 2022 Autonomous
Change-Id: I68dcef53387c909a6014b6ee7d46c2b934695beb
Signed-off-by: Vinay Siva <100024232@mvla.net>
Signed-off-by: Griffin Bui <griffinbui+gerrit@gmail.com>
Signed-off-by: Ravago Jones <ravagojones@gmail.com>
Signed-off-by: milind-u <milind.upadhyay@gmail.com>
diff --git a/y2022/actors/auto_splines.h b/y2022/actors/auto_splines.h
index 70c3569..9da6bc6 100644
--- a/y2022/actors/auto_splines.h
+++ b/y2022/actors/auto_splines.h
@@ -2,8 +2,10 @@
#define Y2022_ACTORS_AUTO_SPLINES_H_
#include "aos/events/event_loop.h"
+#include "aos/flatbuffer_merge.h"
#include "frc971/control_loops/control_loops_generated.h"
#include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
+#include "frc971/input/joystick_state_generated.h"
/*
The cooridinate system for the autonomous splines is the same as the spline
@@ -16,10 +18,22 @@
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);
static flatbuffers::Offset<frc971::MultiSpline> StraightLine(
aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder);
+
+ 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