merging in the hot goal reading infrastructure
diff --git a/frc971/autonomous/auto.cc b/frc971/autonomous/auto.cc
index ad8350e..b9f52d3 100644
--- a/frc971/autonomous/auto.cc
+++ b/frc971/autonomous/auto.cc
@@ -7,6 +7,7 @@
#include "aos/common/util/trapezoid_profile.h"
#include "aos/common/logging/logging.h"
#include "aos/common/network/team_number.h"
+#include "aos/common/logging/queue_logging.h"
#include "frc971/autonomous/auto.q.h"
#include "frc971/constants.h"
@@ -16,6 +17,7 @@
#include "frc971/actions/action_client.h"
#include "frc971/actions/shoot_action.h"
#include "frc971/actions/drivetrain_action.h"
+#include "frc971/queues/hot_goal.q.h"
using ::aos::time::Time;
@@ -227,6 +229,19 @@
static const double kTurnAngle = 0.3;
::aos::time::Time start_time = ::aos::time::Time::Now();
LOG(INFO, "Handling auto mode\n");
+
+ ::frc971::HotGoal start_counts;
+ hot_goal.FetchLatest();
+ bool start_counts_valid = true;
+ if (!hot_goal.get()) {
+ LOG(WARNING, "no hot goal message. will ignore\n");
+ start_counts_valid = false;
+ } else {
+ memcpy(&start_counts, hot_goal.get(), sizeof(start_counts));
+ LOG_STRUCT(INFO, "counts at start", start_counts);
+ }
+ (void)start_counts_valid;
+
ResetDrivetrain();
if (ShouldExitAuto()) return;
diff --git a/frc971/autonomous/autonomous.gyp b/frc971/autonomous/autonomous.gyp
index 118c199..68a026c 100644
--- a/frc971/autonomous/autonomous.gyp
+++ b/frc971/autonomous/autonomous.gyp
@@ -29,6 +29,8 @@
'<(DEPTH)/frc971/actions/actions.gyp:action_client',
'<(DEPTH)/frc971/actions/actions.gyp:shoot_action_lib',
'<(DEPTH)/frc971/actions/actions.gyp:drivetrain_action_lib',
+ '<(DEPTH)/frc971/queues/queues.gyp:hot_goal',
+ '<(AOS)/common/logging/logging.gyp:queue_logging',
],
'export_dependent_settings': [
'<(AOS)/common/controls/controls.gyp:control_loop',