Move PDP values out to a separate queue so the timestamps make sense etc
Change-Id: Iad5303c3446dc29f339f02af9c9c99dd7c75d8e0
diff --git a/frc971/wpilib/wpilib_interface.cc b/frc971/wpilib/wpilib_interface.cc
index 8d67cf0..016f52f 100644
--- a/frc971/wpilib/wpilib_interface.cc
+++ b/frc971/wpilib/wpilib_interface.cc
@@ -3,8 +3,6 @@
#include "aos/common/messages/robot_state.q.h"
#include "aos/common/logging/queue_logging.h"
-#include "frc971/wpilib/pdp_fetcher.h"
-
#include "DriverStation.h"
#include "ControllerPower.h"
#undef ERROR
@@ -12,8 +10,7 @@
namespace frc971 {
namespace wpilib {
-void SendRobotState(int32_t my_pid, DriverStation *ds,
- PDPFetcher *pdp_fetcher) {
+void SendRobotState(int32_t my_pid, DriverStation *ds) {
auto new_state = ::aos::robot_state.MakeMessage();
new_state->reader_pid = my_pid;
@@ -28,10 +25,6 @@
new_state->voltage_roborio_in = ControllerPower::GetInputVoltage();
new_state->voltage_battery = ds->GetBatteryVoltage();
- if (pdp_fetcher) {
- pdp_fetcher->GetValues(&new_state->pdp);
- }
-
LOG_STRUCT(DEBUG, "robot_state", *new_state);
new_state.Send();