Add spline distance remaining functions
Change-Id: I0d87365a0f93dba33d50d11729b0e3485d3e8437
diff --git a/frc971/autonomous/base_autonomous_actor.h b/frc971/autonomous/base_autonomous_actor.h
index aeef38c..e060a2c 100644
--- a/frc971/autonomous/base_autonomous_actor.h
+++ b/frc971/autonomous/base_autonomous_actor.h
@@ -29,7 +29,10 @@
bool IsDone();
bool WaitForDone();
- // Wait for done, wait until X from the end, wait for distance from the end
+ // Whether there is less than a certain distance, in meters, remaining in
+ // the current spline.
+ bool SplineDistanceRemaining(double distance);
+ bool WaitForSplineDistanceRemaining(double distance);
private:
friend BaseAutonomousActor;
@@ -67,6 +70,8 @@
// Returns true if the drive has finished.
bool IsDriveDone();
+ void LineFollowAtVelocity(double velocity);
+
// Waits until the robot is pitched up above the specified angle, or the move
// finishes. Returns true on success, and false if it cancels.
bool WaitForAboveAngle(double angle);