| Tyler Chatow | e51334a | 2019-01-20 16:58:16 -0800 | [diff] [blame] | 1 | #ifndef Y2019_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_ |
| 2 | #define Y2019_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_ |
| 3 | |
| 4 | #include "aos/controls/control_loop.h" |
| 5 | #include "y2019/control_loops/superstructure/superstructure.q.h" |
| 6 | |
| 7 | namespace y2019 { |
| 8 | namespace control_loops { |
| 9 | namespace superstructure { |
| 10 | |
| 11 | class Superstructure |
| 12 | : public ::aos::controls::ControlLoop<SuperstructureQueue> { |
| 13 | public: |
| 14 | explicit Superstructure( |
| 15 | SuperstructureQueue *my_superstructure = |
| 16 | &superstructure_queue); |
| 17 | |
| 18 | protected: |
| 19 | virtual void RunIteration( |
| 20 | const SuperstructureQueue::Goal *unsafe_goal, |
| 21 | const SuperstructureQueue::Position *position, |
| 22 | SuperstructureQueue::Output *output, |
| 23 | SuperstructureQueue::Status *status) override; |
| 24 | |
| 25 | private: |
| 26 | |
| 27 | DISALLOW_COPY_AND_ASSIGN(Superstructure); |
| 28 | }; |
| 29 | |
| 30 | } // namespace superstructure |
| 31 | } // namespace control_loops |
| 32 | } // namespace y2019 |
| 33 | |
| 34 | #endif // Y2019_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_ |