commit e68e3733bb4840dc36586e987c87a2906080bc4c
author Comran Morshed <comranmorsh@gmail.com> Sat Mar 12 14:12:11 2016 +0000
committer Austin Schuh <austin.linux@gmail.com> Sun Mar 13 21:18:25 2016 -0700
tree cc5b8bdb1940b0906e52b0b11538e0b0f46eeda8
parent f132dc57b794d12027932f0ba24034685fa6f566

Created actors files for autonomous and got rid of the unique autonomous folder.

Change-Id: I4b4d12070def8ed1a661b9ffd2f82f8d342b6c4b

y2016/joystick_reader.cc

diff --git a/y2016/joystick_reader.cc b/y2016/joystick_reader.cc
index 96586d3..d987268 100644
--- a/y2016/joystick_reader.cc
+++ b/y2016/joystick_reader.cc
@@ -20,6 +20,7 @@
 #include "y2016/constants.h"
 #include "frc971/queues/gyro.q.h"
 #include "frc971/autonomous/auto.q.h"
+#include "y2016/actors/autonomous_actor.h"
 
 using ::frc971::control_loops::drivetrain_queue;
 using ::y2016::control_loops::shooter::shooter_queue;
@@ -289,12 +290,15 @@
  private:
   void StartAuto() {
     LOG(INFO, "Starting auto mode\n");
-    ::frc971::autonomous::autonomous.MakeWithBuilder().run_auto(true).Send();
+
+    actors::AutonomousActionParams params;
+    params.mode = 0;
+    action_queue_.EnqueueAction(actors::MakeAutonomousAction(params));
   }
 
   void StopAuto() {
     LOG(INFO, "Stopping auto mode\n");
-    ::frc971::autonomous::autonomous.MakeWithBuilder().run_auto(false).Send();
+    action_queue_.CancelAllActions();
   }
 
   bool is_high_gear_;