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

y2017/control_loops/superstructure/superstructure.cc

diff --git a/y2017/control_loops/superstructure/superstructure.cc b/y2017/control_loops/superstructure/superstructure.cc
index 9b0297e..c76dd19 100644
--- a/y2017/control_loops/superstructure/superstructure.cc
+++ b/y2017/control_loops/superstructure/superstructure.cc
@@ -21,7 +21,6 @@
 }  // namespace
 
 typedef ::y2017::constants::Values::ShotParams ShotParams;
-using ::frc971::control_loops::drivetrain_queue;
 
 Superstructure::Superstructure(::aos::EventLoop *event_loop,
                                const ::std::string &name)
@@ -30,6 +29,10 @@
       vision_status_fetcher_(
           event_loop->MakeFetcher<::y2017::vision::VisionStatus>(
               ".y2017.vision.vision_status")),
+      drivetrain_status_fetcher_(
+          event_loop
+              ->MakeFetcher<::frc971::control_loops::DrivetrainQueue::Status>(
+                  ".frc971.control_loops.drivetrain_queue.status")),
       column_(event_loop) {
   shot_interpolation_table_ =
       ::frc971::shooter_interpolation::InterpolationTable<ShotParams>({
@@ -84,9 +87,9 @@
 
     // If we are moving too fast, disable shooting and clear the accumulator.
     double robot_velocity = 0.0;
-    drivetrain_queue.status.FetchLatest();
-    if (drivetrain_queue.status.get()) {
-      robot_velocity = drivetrain_queue.status->robot_speed;
+    drivetrain_status_fetcher_.Fetch();
+    if (drivetrain_status_fetcher_.get()) {
+      robot_velocity = drivetrain_status_fetcher_->robot_speed;
     }
 
     if (::std::abs(robot_velocity) > 0.2) {

y2017/control_loops/superstructure/superstructure.h

diff --git a/y2017/control_loops/superstructure/superstructure.h b/y2017/control_loops/superstructure/superstructure.h
index e387cf2..660b861 100644
--- a/y2017/control_loops/superstructure/superstructure.h
+++ b/y2017/control_loops/superstructure/superstructure.h
@@ -43,6 +43,8 @@
 
  private:
   ::aos::Fetcher<::y2017::vision::VisionStatus> vision_status_fetcher_;
+  ::aos::Fetcher<::frc971::control_loops::DrivetrainQueue::Status>
+      drivetrain_status_fetcher_;
 
   hood::Hood hood_;
   intake::Intake intake_;