Reduce users of rollers_queue
The last user is in the output handler, and that'll take an event loop
rewrite.
Change-Id: I0e79520f25981b879fb02ebf21ebfaad1699d9f8
diff --git a/y2014_bot3/wpilib_interface.cc b/y2014_bot3/wpilib_interface.cc
index 8d7ddb2..bd5ae3d 100644
--- a/y2014_bot3/wpilib_interface.cc
+++ b/y2014_bot3/wpilib_interface.cc
@@ -78,7 +78,11 @@
class SensorReader : public ::frc971::wpilib::SensorReader {
public:
SensorReader(::aos::EventLoop *event_loop)
- : ::frc971::wpilib::SensorReader(event_loop) {}
+ : ::frc971::wpilib::SensorReader(event_loop),
+ rollers_position_sender_(
+ event_loop->MakeSender<
+ ::y2014_bot3::control_loops::RollersQueue::Position>(
+ ".y2014_bot3.control_loops.rollers_queue.position")) {}
void RunIteration() {
// Drivetrain
@@ -98,10 +102,14 @@
// Rollers
{
- auto rollers_message = rollers_queue.position.MakeMessage();
+ auto rollers_message = rollers_position_sender_.MakeMessage();
rollers_message.Send();
}
}
+
+ private:
+ ::aos::Sender<::y2014_bot3::control_loops::RollersQueue::Position>
+ rollers_position_sender_;
};
// Writes out our pneumatic outputs.