Add ability to drive splines backwards
Change-Id: Ib34366ed155625fba56c4f72b9adce0615c6f12d
diff --git a/frc971/autonomous/base_autonomous_actor.h b/frc971/autonomous/base_autonomous_actor.h
index 7e3ef35..aeef38c 100644
--- a/frc971/autonomous/base_autonomous_actor.h
+++ b/frc971/autonomous/base_autonomous_actor.h
@@ -42,9 +42,16 @@
BaseAutonomousActor *base_autonomous_actor_;
};
+ // Represents the direction that we will drive along a spline.
+ enum class SplineDirection {
+ kForward,
+ kBackward,
+ };
+
// Starts planning the spline, and returns a handle to be used to manipulate
// it.
- SplineHandle PlanSpline(const ::frc971::MultiSpline &spline);
+ SplineHandle PlanSpline(const ::frc971::MultiSpline &spline,
+ SplineDirection direction);
void ResetDrivetrain();
void InitializeEncoders();