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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / c27f2c9d8f3890553a2b8a5fd6b16acb1b441a68 / . / y2024 / autonomous / auto_splines.h
blob: 8eb38e8c7fb445f2d40e9d667432ef0d06b7f8d1 [file] [log] [blame]
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]1#ifndef Y2024_AUTONOMOUS_AUTO_SPLINES_H_
2#define Y2024_AUTONOMOUS_AUTO_SPLINES_H_
3
4#include "aos/events/event_loop.h"
5#include "aos/flatbuffer_merge.h"
6#include "frc971/control_loops/control_loops_generated.h"
7#include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
8#include "frc971/input/joystick_state_generated.h"
9/*
10
11 The cooridinate system for the autonomous splines is the same as the spline
12 python generator and drivetrain spline systems.
13
14*/
15
Maxwell Henderson09a4b022024-01-19 21:39:51 -0800[diff] [blame]16namespace y2024::autonomous {
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]17
18class AutonomousSplines {
19 public:
20 AutonomousSplines()
21 : test_spline_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
James Kuszmaulb5f11832024-03-15 22:30:59 -0700[diff] [blame]22 "splines/test_spline.json")),
23 mobility_and_shoot_spline_(
24 aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
25 "splines/mobilityandshoot.0.json")),
26 four_piece_spline_1_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
27 "splines/five_note.0.json")),
28 four_piece_spline_2_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
29 "splines/five_note.1.json")),
30 four_piece_spline_3_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
31 "splines/five_note.2.json")),
32 four_piece_spline_4_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
33 "splines/five_note.3.json")),
34 four_piece_spline_5_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
Maxwell Hendersona2dadd02024-03-24 13:57:09 -0700[diff] [blame]35 "splines/five_note.4.json")),
36 two_piece_steal_spline_1_(
37 aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
38 "splines/five_note.0.json")),
39 two_piece_steal_spline_2_(
40 aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
41 "splines/five_note.1.json")),
42 two_piece_steal_spline_3_(
43 aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
44 "splines/five_note.2.json")),
45 two_piece_steal_spline_4_(
46 aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
47 "splines/five_note.3.json")) {}
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]48 static flatbuffers::Offset<frc971::MultiSpline> BasicSSpline(
49 aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
50 *builder,
51 aos::Alliance alliance);
52 static flatbuffers::Offset<frc971::MultiSpline> StraightLine(
53 aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
54 *builder,
55 aos::Alliance alliance);
56
57 flatbuffers::Offset<frc971::MultiSpline> TestSpline(
58 aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
59 *builder,
60 aos::Alliance alliance);
James Kuszmaulb5f11832024-03-15 22:30:59 -0700[diff] [blame]61 flatbuffers::Offset<frc971::MultiSpline> MobilityAndShootSpline(
62 aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
63 *builder,
64 aos::Alliance alliance);
65 flatbuffers::Offset<frc971::MultiSpline> FourPieceSpline1(
66 aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
67 *builder,
68 aos::Alliance alliance);
69 flatbuffers::Offset<frc971::MultiSpline> FourPieceSpline2(
70 aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
71 *builder,
72 aos::Alliance alliance);
73 flatbuffers::Offset<frc971::MultiSpline> FourPieceSpline3(
74 aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
75 *builder,
76 aos::Alliance alliance);
77 flatbuffers::Offset<frc971::MultiSpline> FourPieceSpline4(
78 aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
79 *builder,
80 aos::Alliance alliance);
81 flatbuffers::Offset<frc971::MultiSpline> FourPieceSpline5(
82 aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
83 *builder,
84 aos::Alliance alliance);
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]85
Maxwell Hendersona2dadd02024-03-24 13:57:09 -0700[diff] [blame]86 flatbuffers::Offset<frc971::MultiSpline> TwoPieceStealSpline1(
87 aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
88 *builder,
89 aos::Alliance alliance);
90 flatbuffers::Offset<frc971::MultiSpline> TwoPieceStealSpline2(
91 aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
92 *builder,
93 aos::Alliance alliance);
94 flatbuffers::Offset<frc971::MultiSpline> TwoPieceStealSpline3(
95 aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
96 *builder,
97 aos::Alliance alliance);
98 flatbuffers::Offset<frc971::MultiSpline> TwoPieceStealSpline4(
99 aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
100 *builder,
101 aos::Alliance alliance);
102
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]103 private:
104 aos::FlatbufferDetachedBuffer<frc971::MultiSpline> test_spline_;
James Kuszmaulb5f11832024-03-15 22:30:59 -0700[diff] [blame]105 aos::FlatbufferDetachedBuffer<frc971::MultiSpline> mobility_and_shoot_spline_;
106 aos::FlatbufferDetachedBuffer<frc971::MultiSpline> four_piece_spline_1_;
107 aos::FlatbufferDetachedBuffer<frc971::MultiSpline> four_piece_spline_2_;
108 aos::FlatbufferDetachedBuffer<frc971::MultiSpline> four_piece_spline_3_;
109 aos::FlatbufferDetachedBuffer<frc971::MultiSpline> four_piece_spline_4_;
110 aos::FlatbufferDetachedBuffer<frc971::MultiSpline> four_piece_spline_5_;
Maxwell Hendersona2dadd02024-03-24 13:57:09 -0700[diff] [blame]111
112 aos::FlatbufferDetachedBuffer<frc971::MultiSpline> two_piece_steal_spline_1_;
113 aos::FlatbufferDetachedBuffer<frc971::MultiSpline> two_piece_steal_spline_2_;
114 aos::FlatbufferDetachedBuffer<frc971::MultiSpline> two_piece_steal_spline_3_;
115 aos::FlatbufferDetachedBuffer<frc971::MultiSpline> two_piece_steal_spline_4_;
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]116};
117
Maxwell Henderson09a4b022024-01-19 21:39:51 -0800[diff] [blame]118} // namespace y2024::autonomous
Niko Sohmers3860f8a2024-01-12 21:05:19 -0800[diff] [blame]119
120#endif // Y2024_AUTONOMOUS_AUTO_SPLINES_H_