commit 62917833516fd89cb26b12c7f525311e7ba8b642
author Maxwell Henderson <mxwhenderson@gmail.com> Wed Feb 07 11:08:11 2024 -0800
committer Maxwell Henderson <mxwhenderson@gmail.com> Wed Feb 07 11:08:11 2024 -0800
tree e6f48e6dbef7c39bc716f5307baf30e1b4c3f38d
parent 7f81f734705e298e31c696b4c66769033dc4f686

Combine AbsoluteEncoderAndPotentiometer setters

Intake pivot will be change to an AbsoluteEncoder however this lays a
good groundwork to avoid having 3 functions for every AbsoluteEncoderAndPotentiometer

Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: I08628a6bd3856ad2837f1260288c58b012f7da63

y2024/wpilib_interface.cc

diff --git a/y2024/wpilib_interface.cc b/y2024/wpilib_interface.cc
index b708266..ae691fb 100644
--- a/y2024/wpilib_interface.cc
+++ b/y2024/wpilib_interface.cc
@@ -198,18 +198,12 @@
     }
   }
 
-  void set_intake_pivot_encoder(::std::unique_ptr<frc::Encoder> encoder) {
+  void set_intake_pivot(::std::unique_ptr<frc::Encoder> encoder,
+                        ::std::unique_ptr<frc::DigitalInput> absolute_pwm,
+                        ::std::unique_ptr<frc::AnalogInput> potentiometer) {
     fast_encoder_filter_.Add(encoder.get());
     intake_pivot_encoder_.set_encoder(::std::move(encoder));
-  }
-
-  void set_intake_pivot_absolute_pwm(
-      ::std::unique_ptr<frc::DigitalInput> absolute_pwm) {
     intake_pivot_encoder_.set_absolute_pwm(::std::move(absolute_pwm));
-  }
-
-  void set_intake_pivot_potentiometer(
-      ::std::unique_ptr<frc::AnalogInput> potentiometer) {
     intake_pivot_encoder_.set_potentiometer(::std::move(potentiometer));
   }
 
@@ -272,11 +266,9 @@
     sensor_reader.set_drivetrain_right_encoder(make_encoder(0));
     sensor_reader.set_yaw_rate_input(make_unique<frc::DigitalInput>(0));
     // TODO: (niko) change values once robot is wired
-    sensor_reader.set_intake_pivot_encoder(make_encoder(4));
-    sensor_reader.set_intake_pivot_absolute_pwm(
-        make_unique<frc::DigitalInput>(4));
-    sensor_reader.set_intake_pivot_potentiometer(
-        make_unique<frc::AnalogInput>(4));
+    sensor_reader.set_intake_pivot(make_encoder(4),
+                                   make_unique<frc::DigitalInput>(4),
+                                   make_unique<frc::AnalogInput>(4));
     sensor_reader.set_transfer_beambreak(make_unique<frc::DigitalInput>(7));
 
     AddLoop(&sensor_reader_event_loop);