Convert aos over to flatbuffers
Everything builds, and all the tests pass. I suspect that some entries
are missing from the config files, but those will be found pretty
quickly on startup.
There is no logging or live introspection of queue messages.
Change-Id: I496ee01ed68f202c7851bed7e8786cee30df29f5
diff --git a/y2017/control_loops/superstructure/hood/hood.h b/y2017/control_loops/superstructure/hood/hood.h
index 55d5344..7778152 100644
--- a/y2017/control_loops/superstructure/hood/hood.h
+++ b/y2017/control_loops/superstructure/hood/hood.h
@@ -2,8 +2,8 @@
#define Y2017_CONTROL_LOOPS_SUPERSTRUCTURE_HOOD_HOOD_H_
#include "frc971/control_loops/profiled_subsystem.h"
-#include "y2017/control_loops/superstructure/superstructure.q.h"
#include "y2017/constants.h"
+#include "y2017/control_loops/superstructure/superstructure_goal_generated.h"
namespace y2017 {
namespace control_loops {
@@ -45,10 +45,12 @@
::std::chrono::milliseconds(15);
static constexpr double kNotMovingVoltage = 2.0;
- void Iterate(::aos::monotonic_clock::time_point monotonic_now,
- const control_loops::HoodGoal *unsafe_goal,
- const ::frc971::IndexPosition *position, double *output,
- ::frc971::control_loops::IndexProfiledJointStatus *status);
+ flatbuffers::Offset<frc971::control_loops::IndexProfiledJointStatus> Iterate(
+ ::aos::monotonic_clock::time_point monotonic_now,
+ const double *unsafe_goal,
+ const frc971::ProfileParameters *unsafe_goal_profile_parameters,
+ const ::frc971::IndexPosition *position, double *output,
+ flatbuffers::FlatBufferBuilder *fbb);
void Reset();