commit 8bb5df2a01c1bd3b17bddafe1669153f102144b3
author James Kuszmaul <jabukuszmaul@gmail.com> Wed May 01 21:40:08 2019 -0500
committer James Kuszmaul <jabukuszmaul@gmail.com> Wed May 01 20:10:50 2019 -0700
tree ddf6ce5462e70922d029b143fe60fbdc769d40d3
parent 0be8deb4cab06050c33c66aa8dcc99d43b95cc98

Add target hints to auto and a far-rocket hint

Change-Id: If23c46eca23cd29e3200084889fda8a35edd7faa

frc971/autonomous/BUILD

diff --git a/frc971/autonomous/BUILD b/frc971/autonomous/BUILD
index 003ceb6..2d74bf2 100644
--- a/frc971/autonomous/BUILD
+++ b/frc971/autonomous/BUILD
@@ -1,31 +1,33 @@
-package(default_visibility = ['//visibility:public'])
+package(default_visibility = ["//visibility:public"])
 
-load('//aos/build:queues.bzl', 'queue_library')
+load("//aos/build:queues.bzl", "queue_library")
 
 queue_library(
-  name = 'auto_queue',
-  srcs = [
-    'auto.q',
-  ],
-  deps = [
-    '//aos/actions:action_queue',
-  ],
+    name = "auto_queue",
+    srcs = [
+        "auto.q",
+    ],
+    deps = [
+        "//aos/actions:action_queue",
+    ],
 )
 
 cc_library(
-  name = 'base_autonomous_actor',
-  hdrs = [
-    'base_autonomous_actor.h',
-  ],
-  srcs = [
-    'base_autonomous_actor.cc',
-  ],
-  deps = [
-    ':auto_queue',
-    '//aos/actions:action_lib',
-    '//aos/util:phased_loop',
-    '//aos/logging',
-    '//frc971/control_loops/drivetrain:drivetrain_config',
-    '//frc971/control_loops/drivetrain:drivetrain_queue',
-  ],
+    name = "base_autonomous_actor",
+    srcs = [
+        "base_autonomous_actor.cc",
+    ],
+    hdrs = [
+        "base_autonomous_actor.h",
+    ],
+    deps = [
+        ":auto_queue",
+        "//aos/actions:action_lib",
+        "//aos/logging",
+        "//aos/util:phased_loop",
+        "//frc971/control_loops/drivetrain:drivetrain_config",
+        "//frc971/control_loops/drivetrain:drivetrain_queue",
+        "//frc971/control_loops/drivetrain:localizer_queue",
+        "//y2019/control_loops/drivetrain:target_selector_queue",
+    ],
 )

frc971/autonomous/base_autonomous_actor.cc

diff --git a/frc971/autonomous/base_autonomous_actor.cc b/frc971/autonomous/base_autonomous_actor.cc
index a71ee7d..3509d63 100644
--- a/frc971/autonomous/base_autonomous_actor.cc
+++ b/frc971/autonomous/base_autonomous_actor.cc
@@ -9,9 +9,12 @@
 #include "aos/logging/logging.h"
 
 #include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/drivetrain/localizer.q.h"
+#include "y2019/control_loops/drivetrain/target_selector.q.h"
 
 using ::frc971::control_loops::drivetrain_queue;
 using ::aos::monotonic_clock;
+using ::y2019::control_loops::drivetrain::target_selector_hint;
 namespace chrono = ::std::chrono;
 namespace this_thread = ::std::this_thread;
 
@@ -375,7 +378,7 @@
   }
 }
 
-void BaseAutonomousActor::LineFollowAtVelocity(double velocity) {
+void BaseAutonomousActor::LineFollowAtVelocity(double velocity, int hint) {
   auto drivetrain_message = drivetrain_queue.goal.MakeMessage();
   drivetrain_message->controller_type = 3;
   // TODO(james): Currently the 4.0 is copied from the
@@ -383,6 +386,9 @@
   // factor it out in some way.
   drivetrain_message->throttle = velocity / 4.0;
   drivetrain_message.Send();
+  auto target_hint = target_selector_hint.MakeMessage();
+  target_hint->suggested_target = hint;
+  target_hint.Send();
 }
 
 BaseAutonomousActor::SplineHandle BaseAutonomousActor::PlanSpline(

frc971/autonomous/base_autonomous_actor.h

diff --git a/frc971/autonomous/base_autonomous_actor.h b/frc971/autonomous/base_autonomous_actor.h
index e060a2c..581e107 100644
--- a/frc971/autonomous/base_autonomous_actor.h
+++ b/frc971/autonomous/base_autonomous_actor.h
@@ -70,7 +70,7 @@
   // Returns true if the drive has finished.
   bool IsDriveDone();
 
-  void LineFollowAtVelocity(double velocity);
+  void LineFollowAtVelocity(double velocity, int hint = 0);
 
   // Waits until the robot is pitched up above the specified angle, or the move
   // finishes.  Returns true on success, and false if it cancels.