Kill target_selector_hint queue
Use EventLoop instead.
Change-Id: I84f839e6ec247648470c70be234611517dff8f51
diff --git a/y2019/joystick_reader.cc b/y2019/joystick_reader.cc
index 2108846..58d1c36 100644
--- a/y2019/joystick_reader.cc
+++ b/y2019/joystick_reader.cc
@@ -28,7 +28,6 @@
#include "y2019/vision.pb.h"
using ::y2019::control_loops::superstructure::superstructure_queue;
-using ::y2019::control_loops::drivetrain::target_selector_hint;
using ::frc971::control_loops::drivetrain::localizer_control;
using ::aos::input::driver_station::ButtonLocation;
using ::aos::input::driver_station::ControlBit;
@@ -141,7 +140,11 @@
event_loop,
::y2019::control_loops::drivetrain::GetDrivetrainConfig(),
{.run_teleop_in_auto = true,
- .cancel_auto_button = kCancelAutoMode}) {
+ .cancel_auto_button = kCancelAutoMode}),
+ target_selector_hint_sender_(
+ event_loop->MakeSender<
+ ::y2019::control_loops::drivetrain::TargetSelectorHint>(
+ ".y2019.control_loops.drivetrain.target_selector_hint")) {
const uint16_t team = ::aos::network::GetTeamNumber();
superstructure_queue.goal.FetchLatest();
if (superstructure_queue.goal.get()) {
@@ -176,7 +179,7 @@
auto new_superstructure_goal = superstructure_queue.goal.MakeMessage();
{
- auto target_hint = target_selector_hint.MakeMessage();
+ auto target_hint = target_selector_hint_sender_.MakeMessage();
if (data.IsPressed(kNearCargoHint)) {
target_hint->suggested_target = 1;
} else if (data.IsPressed(kMidCargoHint)) {
@@ -495,6 +498,9 @@
return ::frc971::autonomous::auto_mode->mode;
}
+ ::aos::Sender<::y2019::control_loops::drivetrain::TargetSelectorHint>
+ target_selector_hint_sender_;
+
// Bool to track if we've been above the deploy position. Once this bool is
// set, don't let the stilts retract until we see the platform.
bool was_above_ = false;