commit 45a549f933b67e5621a0aa02382ab9c2d50568c4
author Austin Schuh <austin.linux@gmail.com> Sat Feb 02 15:43:56 2019 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Feb 02 21:01:27 2019 -0800
tree 353f1228c5d5fb8012f74666e80ac50ef27984de
parent 6800c4686ec672708b7c00fd84d8ae3509ae2f59

Move y2012 over to new SensorReader class

While we are here, shove the RobotState sender and DMA tick code into
the base class.

Change-Id: I49e6b3902c1ee46d396ccc77c2b8dce825e891d8

y2019/wpilib_interface.cc

diff --git a/y2019/wpilib_interface.cc b/y2019/wpilib_interface.cc
index ff5839f..7a6a360 100644
--- a/y2019/wpilib_interface.cc
+++ b/y2019/wpilib_interface.cc
@@ -38,7 +38,6 @@
 #include "frc971/wpilib/loop_output_handler.h"
 #include "frc971/wpilib/pdp_fetcher.h"
 #include "frc971/wpilib/sensor_reader.h"
-#include "frc971/wpilib/wpilib_interface.h"
 #include "frc971/wpilib/wpilib_robot_base.h"
 #include "y2019/constants.h"
 
@@ -107,20 +106,11 @@
   SensorReader() {
     // Set to filter out anything shorter than 1/4 of the minimum pulse width
     // we should ever see.
-    fast_encoder_filter_.SetPeriodNanoSeconds(
-        static_cast<int>(1 / 4.0 /* built-in tolerance */ /
-                             kMaxFastEncoderPulsesPerSecond * 1e9 +
-                         0.5));
-    medium_encoder_filter_.SetPeriodNanoSeconds(
-        static_cast<int>(1 / 4.0 /* built-in tolerance */ /
-                             kMaxMediumEncoderPulsesPerSecond * 1e9 +
-                         0.5));
-    hall_filter_.SetPeriodNanoSeconds(100000);
+    UpdateFastEncoderFilterHz(kMaxFastEncoderPulsesPerSecond);
+    UpdateMediumEncoderFilterHz(kMaxMediumEncoderPulsesPerSecond);
   }
 
   void RunIteration() override {
-    ::frc971::wpilib::SendRobotState(my_pid_);
-
     {
       auto drivetrain_message = drivetrain_queue.position.MakeMessage();
       drivetrain_message->left_encoder =
@@ -135,8 +125,6 @@
 
       drivetrain_message.Send();
     }
-
-    dma_synchronizer_->RunIteration();
   }
 };