Galactic Search Path Fetcher Loading and Executing Splines
Change-Id: Icdc3d76d269d8a1545dbd80b965f2a67fa9cb358
diff --git a/y2020/actors/auto_splines.h b/y2020/actors/auto_splines.h
index 5ea1748..4690fb8 100644
--- a/y2020/actors/auto_splines.h
+++ b/y2020/actors/auto_splines.h
@@ -20,7 +20,15 @@
public:
AutonomousSplines()
: test_spline_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
- "splines/test_spline.json")) {}
+ "splines/test_spline.json")),
+ spline_red_a_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
+ "splines/spline_red_a.json")),
+ spline_blue_a_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
+ "splines/spline_blue_a.json")),
+ spline_red_b_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
+ "splines/spline_red_b.json")),
+ spline_blue_b_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
+ "splines/spline_blue_b.json")) {}
static flatbuffers::Offset<frc971::MultiSpline> BasicSSpline(
aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
@@ -33,9 +41,33 @@
return aos::CopyFlatBuffer<frc971::MultiSpline>(test_spline_,
builder->fbb());
}
+ flatbuffers::Offset<frc971::MultiSpline> SplineRedA(
+ aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder) {
+ return aos::CopyFlatBuffer<frc971::MultiSpline>(spline_red_a_,
+ builder->fbb());
+ }
+ flatbuffers::Offset<frc971::MultiSpline> SplineBlueA(
+ aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder) {
+ return aos::CopyFlatBuffer<frc971::MultiSpline>(spline_blue_a_,
+ builder->fbb());
+ }
+ flatbuffers::Offset<frc971::MultiSpline> SplineRedB(
+ aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder) {
+ return aos::CopyFlatBuffer<frc971::MultiSpline>(spline_red_b_,
+ builder->fbb());
+ }
+ flatbuffers::Offset<frc971::MultiSpline> SplineBlueB(
+ aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder) {
+ return aos::CopyFlatBuffer<frc971::MultiSpline>(spline_blue_b_,
+ builder->fbb());
+ }
private:
aos::FlatbufferDetachedBuffer<frc971::MultiSpline> test_spline_;
+ aos::FlatbufferDetachedBuffer<frc971::MultiSpline> spline_red_a_;
+ aos::FlatbufferDetachedBuffer<frc971::MultiSpline> spline_blue_a_;
+ aos::FlatbufferDetachedBuffer<frc971::MultiSpline> spline_red_b_;
+ aos::FlatbufferDetachedBuffer<frc971::MultiSpline> spline_blue_b_;
};
} // namespace actors