commit 1ea89bb20dd70cf3daacef3b68d8e05aca6ec47a
author Austin Schuh <austin.linux@gmail.com> Mon May 27 16:59:59 2019 -0700
committer Austin Schuh <austin.linux@gmail.com> Wed May 29 20:45:44 2019 -0700
tree 21beec067b1106c52425a1c781af317d3ebf3fd3
parent 73b6e3bfaad0a1b7b5532075df71b69b03f098e5

Convert gyro_reading over to event loops.

LPD8806 wasn't going to fit in well, but it's never been used on a
robot.  So take the easy way out and remove it.

Change-Id: Ib4d29b40d63a8663878ff1b074057be8b2df9259

frc971/wpilib/gyro_sender.cc

diff --git a/frc971/wpilib/gyro_sender.cc b/frc971/wpilib/gyro_sender.cc
index 925588e..894e187 100644
--- a/frc971/wpilib/gyro_sender.cc
+++ b/frc971/wpilib/gyro_sender.cc
@@ -29,7 +29,10 @@
       joystick_state_fetcher_(event_loop_->MakeFetcher<::aos::JoystickState>(
           ".aos.joystick_state")),
       uid_sender_(event_loop_->MakeSender<::frc971::sensors::Uid>(
-          ".frc971.sensors.gyro_part_id")) {
+          ".frc971.sensors.gyro_part_id")),
+      gyro_reading_sender_(
+          event_loop_->MakeSender<::frc971::sensors::GyroReading>(
+              ".frc971.sensors.gyro_reading")) {
   PCHECK(
       system("ps -ef | grep '\\[spi0\\]' | awk '{print $1}' | xargs chrt -f -p "
              "33") == 0);
@@ -119,7 +122,7 @@
 
     const double angle_rate = gyro_.ExtractAngle(result);
     const double new_angle = angle_rate / static_cast<double>(kReadingRate);
-    auto message = ::frc971::sensors::gyro_reading.MakeMessage();
+    auto message = gyro_reading_sender_.MakeMessage();
     if (zeroed) {
       angle += (new_angle + zero_offset) * number_readings;
       message->angle = angle;