Add alliance-switching to 2020 auto
Add code to automatically switch the side of the field we initialize to
based on the alliance reported by the driver's station (this can be set
from the driver's station when not connected to the FMS).
Change-Id: I8c7576e451a0f0762b29f2fe8c407791900c4727
diff --git a/y2020/actors/auto_splines.h b/y2020/actors/auto_splines.h
index 471b7b9..96f055f 100644
--- a/y2020/actors/auto_splines.h
+++ b/y2020/actors/auto_splines.h
@@ -2,6 +2,7 @@
#define y2020_ACTORS_AUTO_SPLINES_H_
#include "aos/events/event_loop.h"
+#include "aos/robot_state/joystick_state_generated.h"
#include "frc971/control_loops/control_loops_generated.h"
#include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
/*
@@ -17,7 +18,8 @@
class AutonomousSplines {
public:
static flatbuffers::Offset<frc971::MultiSpline> BasicSSpline(
- aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder);
+ aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+ aos::Alliance alliance);
static flatbuffers::Offset<frc971::MultiSpline> StraightLine(
aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder);
};