Used new WPILIB2015 macro to mark differences with the old WPILib.
Change-Id: I9e45a22096bdb108f74f9dc341037d5f64506ff5
diff --git a/aos/externals/forwpilib/dma.cc b/aos/externals/forwpilib/dma.cc
index 148ff29..3d41c43 100644
--- a/aos/externals/forwpilib/dma.cc
+++ b/aos/externals/forwpilib/dma.cc
@@ -175,7 +175,7 @@
return;
}
- nFPGA::nFRC_2015_1_0_A::tDMA::tExternalTriggers new_trigger;
+ nFPGA::nRoboRIO_FPGANamespace::tDMA::tExternalTriggers new_trigger;
new_trigger.FallingEdge = falling;
new_trigger.RisingEdge = rising;
diff --git a/bot3/wpilib/wpilib_interface.cc b/bot3/wpilib/wpilib_interface.cc
index cc340cb..685b125 100644
--- a/bot3/wpilib/wpilib_interface.cc
+++ b/bot3/wpilib/wpilib_interface.cc
@@ -116,7 +116,12 @@
::aos::SetCurrentThreadName("SensorReader");
my_pid_ = getpid();
- ds_ = DriverStation::GetInstance();
+ ds_ =
+#ifdef WPILIB2015
+ DriverStation::GetInstance();
+#else
+ &DriverStation::GetInstance();
+#endif
LOG(INFO, "Things are now started\n");
diff --git a/frc971/wpilib/buffered_pcm.h b/frc971/wpilib/buffered_pcm.h
index 50f86fc..e2613d7 100644
--- a/frc971/wpilib/buffered_pcm.h
+++ b/frc971/wpilib/buffered_pcm.h
@@ -29,7 +29,9 @@
private:
// WPILib declares this pure virtual and then never calls it...
+#ifdef WPILIB2015
virtual void InitSolenoid() override {}
+#endif
void Set(int number, bool value);
diff --git a/frc971/wpilib/joystick_sender.cc b/frc971/wpilib/joystick_sender.cc
index 236cc0f..4942eaa 100644
--- a/frc971/wpilib/joystick_sender.cc
+++ b/frc971/wpilib/joystick_sender.cc
@@ -12,7 +12,12 @@
namespace wpilib {
void JoystickSender::operator()() {
- DriverStation *ds = DriverStation::GetInstance();
+ DriverStation *ds =
+#ifdef WPILIB2015
+ DriverStation::GetInstance();
+#else
+ &DriverStation::GetInstance();
+#endif
::aos::SetCurrentThreadName("DSReader");
uint16_t team_id = ::aos::network::GetTeamNumber();
diff --git a/y2014/wpilib/wpilib_interface.cc b/y2014/wpilib/wpilib_interface.cc
index ffb10e2..1e70fb2 100644
--- a/y2014/wpilib/wpilib_interface.cc
+++ b/y2014/wpilib/wpilib_interface.cc
@@ -235,7 +235,12 @@
LOG(INFO, "In sensor reader thread\n");
my_pid_ = getpid();
- ds_ = DriverStation::GetInstance();
+ ds_ =
+#ifdef WPILIB2015
+ DriverStation::GetInstance();
+#else
+ &DriverStation::GetInstance();
+#endif
top_reader_.Start();
bottom_reader_.Start();
diff --git a/y2015/wpilib/wpilib_interface.cc b/y2015/wpilib/wpilib_interface.cc
index 758ecf1..eaaeff9 100644
--- a/y2015/wpilib/wpilib_interface.cc
+++ b/y2015/wpilib/wpilib_interface.cc
@@ -127,7 +127,7 @@
arm_left_encoder_.set_encoder(::std::move(encoder));
}
- void set_arm_left_index(::std::unique_ptr<DigitalSource> index) {
+ void set_arm_left_index(::std::unique_ptr<DigitalInput> index) {
filter_.Add(index.get());
arm_left_encoder_.set_index(::std::move(index));
}
@@ -142,7 +142,7 @@
arm_right_encoder_.set_encoder(::std::move(encoder));
}
- void set_arm_right_index(::std::unique_ptr<DigitalSource> index) {
+ void set_arm_right_index(::std::unique_ptr<DigitalInput> index) {
filter_.Add(index.get());
arm_right_encoder_.set_index(::std::move(index));
}
@@ -157,7 +157,7 @@
elevator_left_encoder_.set_encoder(::std::move(encoder));
}
- void set_elevator_left_index(::std::unique_ptr<DigitalSource> index) {
+ void set_elevator_left_index(::std::unique_ptr<DigitalInput> index) {
filter_.Add(index.get());
elevator_left_encoder_.set_index(::std::move(index));
}
@@ -172,7 +172,7 @@
elevator_right_encoder_.set_encoder(::std::move(encoder));
}
- void set_elevator_right_index(::std::unique_ptr<DigitalSource> index) {
+ void set_elevator_right_index(::std::unique_ptr<DigitalInput> index) {
filter_.Add(index.get());
elevator_right_encoder_.set_index(::std::move(index));
}
@@ -187,7 +187,7 @@
wrist_encoder_.set_encoder(::std::move(encoder));
}
- void set_wrist_index(::std::unique_ptr<DigitalSource> index) {
+ void set_wrist_index(::std::unique_ptr<DigitalInput> index) {
filter_.Add(index.get());
wrist_encoder_.set_index(::std::move(index));
}
@@ -219,7 +219,12 @@
::aos::SetCurrentThreadName("SensorReader");
my_pid_ = getpid();
- ds_ = DriverStation::GetInstance();
+ ds_ =
+#ifdef WPILIB2015
+ DriverStation::GetInstance();
+#else
+ &DriverStation::GetInstance();
+#endif
wrist_encoder_.Start();
dma_synchronizer_->Start();
@@ -369,7 +374,7 @@
fridge_(".frc971.control_loops.fridge_queue.output"),
claw_(".frc971.control_loops.claw_queue.output") {}
- void set_pressure_switch(::std::unique_ptr<DigitalSource> pressure_switch) {
+ void set_pressure_switch(::std::unique_ptr<DigitalInput> pressure_switch) {
pressure_switch_ = ::std::move(pressure_switch);
}
@@ -469,7 +474,7 @@
::std::unique_ptr<BufferedSolenoid> claw_pinchers_;
::std::unique_ptr<BufferedSolenoid> grabber_latch_release_;
::std::unique_ptr<BufferedSolenoid> grabber_fold_up_;
- ::std::unique_ptr<DigitalSource> pressure_switch_;
+ ::std::unique_ptr<DigitalInput> pressure_switch_;
::std::unique_ptr<Relay> compressor_relay_;
::aos::Queue<::frc971::control_loops::FridgeQueue::Output> fridge_;