Finally add auto mode.
It is pretty basic now, it just drives forward and puts a ball
in the low goal. This did involve copying over some of the
action stuff, though, and I fixed a couple silly issues in
the frc971 versions while I was at it.
Change-Id: Idc18ea63dd74ba8ba5405264f212ebe993084aa9
diff --git a/frc971/actions/action.h b/frc971/actions/action.h
index 1fc50ea..1243e58 100644
--- a/frc971/actions/action.h
+++ b/frc971/actions/action.h
@@ -9,8 +9,6 @@
#include "aos/common/logging/logging.h"
#include "aos/common/time.h"
-#include "frc971/constants.h"
-
namespace frc971 {
namespace actions {
diff --git a/frc971/actions/actions.gyp b/frc971/actions/actions.gyp
index 0ddd61c..ff18204 100644
--- a/frc971/actions/actions.gyp
+++ b/frc971/actions/actions.gyp
@@ -140,12 +140,10 @@
],
'dependencies': [
'<(AOS)/build/aos.gyp:logging',
- '<(DEPTH)/frc971/frc971.gyp:constants',
'<(AOS)/common/common.gyp:time',
],
'export_dependent_settings': [
'<(AOS)/build/aos.gyp:logging',
- '<(DEPTH)/frc971/frc971.gyp:constants',
'<(AOS)/common/common.gyp:time',
],
},
diff --git a/frc971/actions/catch_action.cc b/frc971/actions/catch_action.cc
index 350b6f6..7b67645 100644
--- a/frc971/actions/catch_action.cc
+++ b/frc971/actions/catch_action.cc
@@ -1,3 +1,4 @@
+#include <complex>
#include <functional>
#include "aos/common/logging/logging.h"
diff --git a/frc971/actions/drivetrain_action.h b/frc971/actions/drivetrain_action.h
index b164e22..0a256b8 100644
--- a/frc971/actions/drivetrain_action.h
+++ b/frc971/actions/drivetrain_action.h
@@ -1,3 +1,6 @@
+#ifndef FRC971_ACTIONS_DRIVETRAIN_ACTION_H_
+#define FRC971_ACTIONS_DRIVETRAIN_ACTION_H_
+
#include <memory>
#include "frc971/actions/drivetrain_action.q.h"
@@ -20,3 +23,5 @@
} // namespace actions
} // namespace frc971
+
+#endif
diff --git a/frc971/autonomous/auto.cc b/frc971/autonomous/auto.cc
index af29c46..29722e4 100644
--- a/frc971/autonomous/auto.cc
+++ b/frc971/autonomous/auto.cc
@@ -193,8 +193,7 @@
left_initial_position +=
distance - theta * constants::GetValues().turn_width / 2.0;
right_initial_position +=
- distance + theta * constants::GetValues().turn_width / 2. -
- theta * constants::GetValues().turn_width / 2.00;
+ distance + theta * constants::GetValues().turn_width / 2.0;
return ::std::move(drivetrain_action);
}