commit 2c2cc2e139d968a8d6eeae023bc776fae6dfcd4a
author Austin Schuh <austin.linux@gmail.com> Sat Feb 02 20:19:45 2019 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Feb 02 21:01:27 2019 -0800
tree e6dad06e0f2f22887028a35e482fea3f4a2f7da0
parent 45a549f933b67e5621a0aa02382ab9c2d50568c4

Convert y2014 over to use the new SensorReader class

Another step in converting to event loops.

Change-Id: I1faa643596128b53e1ab166abcf74c8d72fe039b

frc971/wpilib/sensor_reader.h

diff --git a/frc971/wpilib/sensor_reader.h b/frc971/wpilib/sensor_reader.h
index 0ce203c..47ca95c 100644
--- a/frc971/wpilib/sensor_reader.h
+++ b/frc971/wpilib/sensor_reader.h
@@ -20,6 +20,7 @@
 class SensorReader {
  public:
   SensorReader();
+  virtual ~SensorReader() {}
 
   // Updates the fast and medium encoder filter frequencies.
   void UpdateFastEncoderFilterHz(int hz);
@@ -34,6 +35,10 @@
   // Sets the dma.
   void set_dma(::std::unique_ptr<DMA> dma);
 
+  void AddToDMA(DMASampleHandlerInterface *handler) {
+    dma_synchronizer_->Add(handler);
+  }
+
   // Sets the pwm trigger.
   void set_pwm_trigger(::std::unique_ptr<frc::DigitalInput> pwm_trigger);
 
@@ -41,6 +46,7 @@
   void Quit() { run_ = false; }
 
   virtual void RunIteration() = 0;
+  virtual void RunDmaIteration() {}
 
   void operator()();
 
@@ -51,6 +57,9 @@
       drivetrain_right_encoder_;
 
  private:
+  // Gets called right before the DMA synchronizer is up and running.
+  virtual void Start() {}
+
   // Uses the pwm trigger to find the pwm cycle width and offset for that
   // iteration.
   void RunPWMDetecter();