commit 83eae56107fe39316b3d6a4a05e3135f66a3f5cf
author Adam Snaider <adsnaider@gmail.com> Sat Sep 10 16:47:33 2016 -0700
committer Adam Snaider <adsnaider@gmail.com> Sat Sep 10 16:51:59 2016 -0700
tree ea8d4ab4e3a69680a8aba65118c2e7f3b470295c
parent 4105ac8fefa799a5ecff7489d36dd365cf03bbbe

Update bot3 drivetrain and get defense bot working.

Change-Id: I0e3d5c0e768ee77eaeaf0a963f15c3172389ea6e

y2014_bot3/autonomous/BUILD

diff --git a/y2014_bot3/autonomous/BUILD b/y2014_bot3/autonomous/BUILD
index f90ce74..bfd7f34 100644
--- a/y2014_bot3/autonomous/BUILD
+++ b/y2014_bot3/autonomous/BUILD
@@ -20,8 +20,7 @@
   deps = [
     ':auto_queue',
     '//aos/common/controls:control_loop',
-    '//y2014_bot3/control_loops/drivetrain:drivetrain_queue',
-    '//y2014_bot3/control_loops/drivetrain:drivetrain_lib',
+    '//frc971/control_loops/drivetrain:drivetrain_queue',
     '//y2014_bot3/control_loops/rollers:rollers_queue',
     '//aos/common:time',
     '//aos/common/util:phased_loop',

y2014_bot3/autonomous/auto.cc

diff --git a/y2014_bot3/autonomous/auto.cc b/y2014_bot3/autonomous/auto.cc
index 3724cbe..80f2b09 100644
--- a/y2014_bot3/autonomous/auto.cc
+++ b/y2014_bot3/autonomous/auto.cc
@@ -8,13 +8,12 @@
 #include "aos/common/logging/logging.h"
 #include "aos/common/logging/queue_logging.h"
 
+#include "frc971/control_loops/drivetrain/drivetrain.q.h"
 #include "y2014_bot3/autonomous/auto.q.h"
-#include "y2014_bot3/control_loops/drivetrain/drivetrain.q.h"
-#include "y2014_bot3/control_loops/drivetrain/drivetrain.h"
 #include "y2014_bot3/control_loops/rollers/rollers.q.h"
 
 using ::aos::time::Time;
-using ::y2014_bot3::control_loops::drivetrain_queue;
+using ::frc971::control_loops::drivetrain_queue;
 using ::y2014_bot3::control_loops::rollers_queue;
 
 namespace y2014_bot3 {
@@ -35,7 +34,7 @@
 
 void ResetDrivetrain() {
   LOG(INFO, "resetting the drivetrain\n");
-  control_loops::drivetrain_queue.goal.MakeWithBuilder()
+  ::frc971::control_loops::drivetrain_queue.goal.MakeWithBuilder()
       .control_loop_driving(false)
       .steering(0.0)
       .throttle(0.0)
@@ -47,11 +46,11 @@
 }
 
 void InitializeEncoders() {
-  control_loops::drivetrain_queue.status.FetchAnother();
+  ::frc971::control_loops::drivetrain_queue.status.FetchAnother();
   left_initial_position =
-      control_loops::drivetrain_queue.status->estimated_left_position;
+      ::frc971::control_loops::drivetrain_queue.status->estimated_left_position;
   right_initial_position =
-      control_loops::drivetrain_queue.status->estimated_right_position;
+      ::frc971::control_loops::drivetrain_queue.status->estimated_right_position;
 }
 
 void HandleAuto() {
@@ -63,7 +62,7 @@
   InitializeEncoders();
 
   LOG(INFO, "Driving\n");
-  control_loops::drivetrain_queue.goal.MakeWithBuilder()
+  ::frc971::control_loops::drivetrain_queue.goal.MakeWithBuilder()
       .control_loop_driving(false)
       .highgear(false)
       .quickturn(false)
@@ -76,7 +75,7 @@
       .Send();
   time::SleepFor(time::Time::InSeconds(2.0));
 
-  control_loops::drivetrain_queue.goal.MakeWithBuilder()
+  ::frc971::control_loops::drivetrain_queue.goal.MakeWithBuilder()
       .control_loop_driving(false)
       .highgear(false)
       .quickturn(false)