commit 3d68e14d7a07f8f5b27482a1bc59ce36e45b9b3a
author Maxwell Henderson <mxwhenderson@gmail.com> Sun Feb 25 09:58:11 2024 -0800
committer Maxwell Henderson <mxwhenderson@gmail.com> Sun Feb 25 09:58:11 2024 -0800
tree 1294bd269f1a87bedb084374b5fddca68aeb7809
parent 7db297873ed6cb0ec7499dfcc043a27f1ea567f6

Bringup main robot

This gets all mechanisms zeroed and running.

Many profiles are still heavily detuned.

Catapult motors are moved to the CANivore bus.

Change-Id: I38a1845f804bd490d5fff285c636010ac8ea2c27
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

frc971/wpilib/can_sensor_reader.cc

diff --git a/frc971/wpilib/can_sensor_reader.cc b/frc971/wpilib/can_sensor_reader.cc
index 54be05d..1f56b17 100644
--- a/frc971/wpilib/can_sensor_reader.cc
+++ b/frc971/wpilib/can_sensor_reader.cc
@@ -7,8 +7,10 @@
     aos::EventLoop *event_loop,
     std::vector<ctre::phoenix6::BaseStatusSignal *> signals_registry,
     std::vector<std::shared_ptr<TalonFX>> talonfxs,
-    std::function<void(ctre::phoenix::StatusCode status)> flatbuffer_callback)
+    std::function<void(ctre::phoenix::StatusCode status)> flatbuffer_callback,
+    SignalSync sync)
     : event_loop_(event_loop),
+      sync_(sync),
       signals_(signals_registry.begin(), signals_registry.end()),
       talonfxs_(talonfxs),
       flatbuffer_callback_(flatbuffer_callback) {
@@ -28,8 +30,12 @@
 }
 
 void CANSensorReader::Loop() {
-  ctre::phoenix::StatusCode status =
-      ctre::phoenix6::BaseStatusSignal::WaitForAll(20_ms, signals_);
+  ctre::phoenix::StatusCode status;
+  if (sync_ == SignalSync::kDoSync) {
+    status = ctre::phoenix6::BaseStatusSignal::WaitForAll(20_ms, signals_);
+  } else {
+    status = ctre::phoenix6::BaseStatusSignal::RefreshAll(signals_);
+  }
 
   if (!status.IsOK()) {
     AOS_LOG(ERROR, "Failed to read signals from talonfx motors: %s: %s",

frc971/wpilib/can_sensor_reader.h

diff --git a/frc971/wpilib/can_sensor_reader.h b/frc971/wpilib/can_sensor_reader.h
index 8eddfca..c79d7f2 100644
--- a/frc971/wpilib/can_sensor_reader.h
+++ b/frc971/wpilib/can_sensor_reader.h
@@ -12,18 +12,23 @@
 namespace frc971::wpilib {
 class CANSensorReader {
  public:
+  enum class SignalSync {
+    kDoSync,
+    kNoSync,
+  };
   CANSensorReader(
       aos::EventLoop *event_loop,
       std::vector<ctre::phoenix6::BaseStatusSignal *> signals_registry,
       std::vector<std::shared_ptr<TalonFX>> talonfxs,
-      std::function<void(ctre::phoenix::StatusCode status)>
-          flatbuffer_callback);
+      std::function<void(ctre::phoenix::StatusCode status)> flatbuffer_callback,
+      SignalSync sync = SignalSync::kDoSync);
 
  private:
   void Loop();
 
   aos::EventLoop *event_loop_;
 
+  const SignalSync sync_;
   const std::vector<ctre::phoenix6::BaseStatusSignal *> signals_;
 
   // This is a vector of talonfxs becuase we don't need to care