LRT13  1.0
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AutonomousRoutines.h
1 #ifndef AUTONOMOUS_ROUTINES_H_
2 #define AUTONOMOUS_ROUTINES_H_
3 
4 #include "../Process/SynchronizedProcess.h"
5 #include "../ComponentData/RobotData.h"
6 #include "../ComponentData/DrivetrainData.h"
7 #include "../ComponentData/AutoAimData.h"
8 #include "../ComponentData/ConfigLoaderData.h"
9 #include "Routines/Routine.h"
10 #include "DebouncedJoystick.h"
11 
12 #include <queue>
13 #include <fstream>
14 #include <string>
15 
16 namespace data
17 {
18 class ComponentData;
19 }
20 class AutoActions;
21 
27 {
28 public:
31 
32  void TeleopTick(); //called every cycle to manage semi-autonomous functions
33 
34  void Update();
35 
36 private:
37  void LoadRoutine(std::string path);
38 
39  void ServiceAutoAimBackBoard();
40 
41  double m_autonomousStartTime;
42 
43  AutoActions* m_autoActions;
44 
45  data::ComponentData *m_componentData;
46 
47  queue<Routine*> routines;
48  bool beginNext;
49 
50  DebouncedJoystick *m_joystick;
51 
52 // typedef struct Cycle
53 // {
54 // double forward;
55 // double turn;
56 // bool collecting;
57 // bool shooting;
58 // bool angleHigh;
59 // };
60 };
61 
62 #endif