commit eeec74ac42a68314e879d9f86aefcdaf3a4a6ea2
author Austin Schuh <austin.linux@gmail.com> Sun Jan 27 20:58:59 2019 -0800
committer Austin Schuh <austin.linux@gmail.com> Wed Jan 30 23:35:08 2019 -0800
tree a640667c944ad36c5a668bc74dc762e59bb986a5
parent a1654eda541e9e8b1b5129ab2bd117548abb9377

Move Position, robot_state, and joystick_state over

ControlLoop should now be completely using the event loop.

Change-Id: Ifb936c384d1031abbc9e61d834b1ef157ad0841c

y2014/control_loops/claw/claw.cc

diff --git a/y2014/control_loops/claw/claw.cc b/y2014/control_loops/claw/claw.cc
index 088472c..82ca3a5 100644
--- a/y2014/control_loops/claw/claw.cc
+++ b/y2014/control_loops/claw/claw.cc
@@ -604,9 +604,7 @@
   return (
       (top_claw_.zeroing_state() == ZeroedStateFeedbackLoop::CALIBRATED &&
        bottom_claw_.zeroing_state() == ZeroedStateFeedbackLoop::CALIBRATED) ||
-      (((::aos::joystick_state.get() == NULL)
-            ? true
-            : ::aos::joystick_state->autonomous) &&
+      ((has_joystick_state() ? joystick_state().autonomous : true) &&
        ((top_claw_.zeroing_state() == ZeroedStateFeedbackLoop::CALIBRATED ||
          top_claw_.zeroing_state() ==
              ZeroedStateFeedbackLoop::DISABLED_CALIBRATION) &&
@@ -674,12 +672,12 @@
   }
 
   bool autonomous, enabled;
-  if (::aos::joystick_state.get() == nullptr) {
+  if (has_joystick_state()) {
+    autonomous = joystick_state().autonomous;
+    enabled = joystick_state().enabled;
+  } else {
     autonomous = true;
     enabled = false;
-  } else {
-    autonomous = ::aos::joystick_state->autonomous;
-    enabled = ::aos::joystick_state->enabled;
   }
 
   double bottom_claw_velocity_ = 0.0;

y2014/control_loops/shooter/shooter.cc

diff --git a/y2014/control_loops/shooter/shooter.cc b/y2014/control_loops/shooter/shooter.cc
index f61cc02..7f3a3b0 100644
--- a/y2014/control_loops/shooter/shooter.cc
+++ b/y2014/control_loops/shooter/shooter.cc
@@ -249,8 +249,7 @@
   // Don't even let the control loops run.
   bool shooter_loop_disable = false;
 
-  const bool disabled =
-      !::aos::joystick_state.get() || !::aos::joystick_state->enabled;
+  const bool disabled = !has_joystick_state() || !joystick_state().enabled;
 
   // If true, move the goal if we saturate.
   bool cap_goal = false;
@@ -549,7 +548,7 @@
                        shooter_.absolute_position()) > 0.0005 &&
             cycles_not_moved_ > 6) ||
            monotonic_clock::now() > shot_end_time_) &&
-          ::aos::robot_state->voltage_battery > 10.5) {
+          robot_state().voltage_battery > 10.5) {
         state_ = STATE_REQUEST_LOAD;
         ++shot_count_;
       }