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/y2019/control_loops/superstructure/collision_avoidance.h b/y2019/control_loops/superstructure/collision_avoidance.h
index 7feb45d..338864e 100644
--- a/y2019/control_loops/superstructure/collision_avoidance.h
+++ b/y2019/control_loops/superstructure/collision_avoidance.h
@@ -2,9 +2,12 @@
#define Y2019_CONTROL_LOOPS_SUPERSTRUCTURE_COLLISION_AVOIDANCE_H_
#include <cmath>
-#include "aos/controls/control_loops.q.h"
+
#include "frc971/constants.h"
-#include "y2019/control_loops/superstructure/superstructure.q.h"
+#include "frc971/control_loops/control_loops_generated.h"
+#include "frc971/control_loops/profiled_subsystem_generated.h"
+#include "y2019/control_loops/superstructure/superstructure_goal_generated.h"
+#include "y2019/control_loops/superstructure/superstructure_status_generated.h"
namespace y2019 {
namespace control_loops {
@@ -18,15 +21,14 @@
CollisionAvoidance();
// Reports if the superstructure is collided.
- bool IsCollided(const SuperstructureQueue::Status *status);
+ bool IsCollided(const Status *status);
bool IsCollided(double wrist_position, double elevator_position,
double intake_position, bool has_piece);
// Checks and alters goals to make sure they're safe.
// TODO(austin): Either we will have a unit delay because this has to happen
// after the controls, or we need to be more clever about restructuring.
- void UpdateGoal(const SuperstructureQueue::Status *status,
- const SuperstructureQueue::Goal *unsafe_goal);
+ void UpdateGoal(const Status *status, const Goal *unsafe_goal);
// Returns the goals to give to the respective control loops in
// superstructure.