copied everything over from 2012 and removed all of the actual robot code except the drivetrain stuff
git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4078 f308d9b7-e957-4cde-b6ac-9a88185e7312
diff --git a/frc971/input/SensorWriter.cc b/frc971/input/SensorWriter.cc
new file mode 100644
index 0000000..1fb34db
--- /dev/null
+++ b/frc971/input/SensorWriter.cc
@@ -0,0 +1,40 @@
+#include <arpa/inet.h>
+
+#include "WPILib/Task.h"
+#include "WPILib/Encoder.h"
+#include "WPILib/DigitalInput.h"
+#include "WPILib/Counter.h"
+
+#include "aos/aos_core.h"
+#include "aos/crio/motor_server/SensorOutput.h"
+#include "aos/common/inttypes.h"
+#include "aos/common/mutex.h"
+#include "aos/crio/shared_libs/interrupt_notifier.h"
+
+#include "frc971/queues/sensor_values.h"
+
+using ::aos::MutexLocker;
+
+namespace frc971 {
+
+class SensorWriter : public aos::SensorOutput<sensor_values> {
+ Encoder lencoder;
+ Encoder rencoder;
+
+ public:
+ SensorWriter() : lencoder(1, 2), rencoder(3, 4) {
+ lencoder.Start();
+ rencoder.Start();
+
+ printf("frc971::SensorWriter started\n");
+ }
+
+ virtual void RunIteration(sensor_values &vals) {
+ vals.lencoder = htonl(-lencoder.GetRaw());
+ vals.rencoder = -htonl(-rencoder.GetRaw());
+ }
+};
+
+} // namespace frc971
+
+AOS_RUN(frc971::SensorWriter)