Add 3 autonomous modes.
Change-Id: Ied6692009ebd5373a422881180107c1b2d2b7116
diff --git a/frc971/wpilib/joystick_sender.cc b/frc971/wpilib/joystick_sender.cc
index 7d406d0..741b49c 100644
--- a/frc971/wpilib/joystick_sender.cc
+++ b/frc971/wpilib/joystick_sender.cc
@@ -31,13 +31,18 @@
ds->WaitForData();
auto new_state = ::aos::joystick_state.MakeMessage();
-#if defined(WPILIB2017) || defined(WPILIB2018)
HAL_ControlWord control_word;
HAL_GetControlWord(&control_word);
-#else
- HALControlWord control_word;
- HALGetControlWord(&control_word);
-#endif
+ HAL_MatchInfo match_info;
+ auto status = HAL_GetMatchInfo(&match_info);
+ if (status == 0) {
+ new_state->switch_left = match_info.gameSpecificMessage[0] == 'L' ||
+ match_info.gameSpecificMessage[0] == 'l';
+ new_state->scale_left = match_info.gameSpecificMessage[1] == 'L' ||
+ match_info.gameSpecificMessage[1] == 'l';
+ }
+ HAL_FreeMatchInfo(&match_info);
+
new_state->test_mode = control_word.test;
new_state->fms_attached = control_word.fmsAttached;
new_state->enabled = control_word.enabled;