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>
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