commit 996a2a20ea1713c0edf1501b24e50e4a439ce3f4
author Philipp Schrader <philipp.schrader@gmail.com> Wed Feb 22 05:02:48 2017 +0000
committer Philipp Schrader <philipp.schrader@gmail.com> Wed Feb 22 05:02:48 2017 +0000
tree 026f0de682fadca56b839907bba818a6c86553b9
parent 4bd29b17bf604b83805f0f16ea866680eb9e8801

Move y2017 auton actor to use common class

This should give it the drivetrain helpers right off the bat.

Change-Id: I7f88d30c2451da632acc2a85fd57d2bc1772f041

y2017/actors/autonomous_actor.h

diff --git a/y2017/actors/autonomous_actor.h b/y2017/actors/autonomous_actor.h
index ef63b8e..3c179ed 100644
--- a/y2017/actors/autonomous_actor.h
+++ b/y2017/actors/autonomous_actor.h
@@ -6,32 +6,24 @@
 
 #include "aos/common/actions/actions.h"
 #include "aos/common/actions/actor.h"
+#include "frc971/autonomous/base_autonomous_actor.h"
 #include "frc971/control_loops/drivetrain/drivetrain.q.h"
 #include "frc971/control_loops/drivetrain/drivetrain_config.h"
-#include "y2017/actors/autonomous_action.q.h"
 
 namespace y2017 {
 namespace actors {
 using ::frc971::ProfileParameters;
 
-class AutonomousActor
-    : public ::aos::common::actions::ActorBase<AutonomousActionQueueGroup> {
+class AutonomousActor : public ::frc971::autonomous::BaseAutonomousActor {
  public:
-  explicit AutonomousActor(AutonomousActionQueueGroup *s);
+  explicit AutonomousActor(::frc971::autonomous::AutonomousActionQueueGroup *s);
 
-  bool RunAction(const actors::AutonomousActionParams &params) override;
+  bool RunAction(
+      const ::frc971::autonomous::AutonomousActionParams &params) override;
  private:
-  void WaitUntilDoneOrCanceled(::std::unique_ptr<aos::common::actions::Action>
-      action);
+  // TODO(phil): Implement this.
 };
 
-typedef ::aos::common::actions::TypedAction<AutonomousActionQueueGroup>
-    AutonomousAction;
-
-// Makes a new AutonomousActor action.
-::std::unique_ptr<AutonomousAction> MakeAutonomousAction(
-    const ::y2017::actors::AutonomousActionParams &params);
-
 }  // namespace actors
 }  // namespace y2017