Galactic Search Path Fetcher Loading and Executing Splines
Change-Id: Icdc3d76d269d8a1545dbd80b965f2a67fa9cb358
diff --git a/y2020/actors/autonomous_actor.h b/y2020/actors/autonomous_actor.h
index a58e3f9..12b8e77 100644
--- a/y2020/actors/autonomous_actor.h
+++ b/y2020/actors/autonomous_actor.h
@@ -8,6 +8,7 @@
#include "frc971/control_loops/drivetrain/drivetrain_config.h"
#include "frc971/control_loops/drivetrain/localizer_generated.h"
#include "y2020/actors/auto_splines.h"
+#include "y2020/vision/galactic_search_path_generated.h"
namespace y2020 {
namespace actors {
@@ -22,11 +23,15 @@
private:
void Reset();
void SplineAuto();
+ void SendStartingPosition(double x, double y, double theta);
+ void SendStartingPosition(const frc971::MultiSpline *const spline);
+ void GalacticSearch();
bool DriveFwd();
::aos::Sender<::frc971::control_loops::drivetrain::LocalizerControl>
localizer_control_sender_;
aos::Fetcher<aos::JoystickState> joystick_state_fetcher_;
+ aos::Fetcher<y2020::vision::GalacticSearchPath> path_fetcher_;
aos::Alliance alliance_ = aos::Alliance::kInvalid;
AutonomousSplines auto_splines_;
};