commit bd0a40fe4f01ecd4caaa02a111752bcf1bba7e45
author Austin Schuh <austin.linux@gmail.com> Sun Jun 30 14:56:31 2019 -0700
committer Austin Schuh <austin.linux@gmail.com> Sat Aug 10 19:33:36 2019 -0700
tree b0c4f4910e8577db6de9f8eb141d5a0370f9f11e
parent 1fa7f39b3708084e797db9eee22ca9f246a1980d

Remove global .frc971.control_loops.drivetrain_queue object

Change-Id: I424f09dcc8bc210e49cbdc805d1a423a72332617

y2014_bot3/joystick_reader.cc

diff --git a/y2014_bot3/joystick_reader.cc b/y2014_bot3/joystick_reader.cc
index 7b6d950..989a1c1 100644
--- a/y2014_bot3/joystick_reader.cc
+++ b/y2014_bot3/joystick_reader.cc
@@ -18,8 +18,6 @@
 #include "y2014_bot3/control_loops/drivetrain/drivetrain_base.h"
 #include "y2014_bot3/control_loops/rollers/rollers.q.h"
 
-using ::frc971::control_loops::drivetrain_queue;
-
 using ::aos::input::driver_station::ButtonLocation;
 using ::aos::input::driver_station::POVLocation;
 using ::aos::input::driver_station::JoystickAxis;
@@ -56,7 +54,7 @@
             ::frc971::autonomous::BaseAutonomousActor::MakeFactory(
                 event_loop)) {
     drivetrain_input_reader_ = DrivetrainInputReader::Make(
-        DrivetrainInputReader::InputType::kSteeringWheel,
+        event_loop, DrivetrainInputReader::InputType::kSteeringWheel,
         ::y2014_bot3::control_loops::drivetrain::GetDrivetrainConfig());
   }
 

y2014_bot3/wpilib_interface.cc

diff --git a/y2014_bot3/wpilib_interface.cc b/y2014_bot3/wpilib_interface.cc
index f1413fb..c526742 100644
--- a/y2014_bot3/wpilib_interface.cc
+++ b/y2014_bot3/wpilib_interface.cc
@@ -49,7 +49,6 @@
 #endif
 
 using ::aos::util::SimpleLogInterval;
-using ::frc971::control_loops::drivetrain_queue;
 using ::frc971::wpilib::BufferedPcm;
 using ::frc971::wpilib::BufferedSolenoid;
 using ::frc971::wpilib::LoopOutputHandler;
@@ -80,12 +79,16 @@
         rollers_position_sender_(
             event_loop->MakeSender<
                 ::y2014_bot3::control_loops::RollersQueue::Position>(
-                ".y2014_bot3.control_loops.rollers_queue.position")) {}
+                ".y2014_bot3.control_loops.rollers_queue.position")),
+        drivetrain_position_sender_(
+            event_loop->MakeSender<
+                ::frc971::control_loops::DrivetrainQueue::Position>(
+                ".frc971.control_loops.drivetrain_queue.position")) {}
 
   void RunIteration() {
     // Drivetrain
     {
-      auto drivetrain_message = drivetrain_queue.position.MakeMessage();
+      auto drivetrain_message = drivetrain_position_sender_.MakeMessage();
       drivetrain_message->right_encoder =
           -drivetrain_translate(drivetrain_right_encoder_->GetRaw());
       drivetrain_message->left_encoder =
@@ -108,6 +111,8 @@
  private:
   ::aos::Sender<::y2014_bot3::control_loops::RollersQueue::Position>
       rollers_position_sender_;
+  ::aos::Sender<::frc971::control_loops::DrivetrainQueue::Position>
+      drivetrain_position_sender_;
 };
 
 // Writes out our pneumatic outputs.