Switch to 5ms loops since we are only on CAN
CAN runs at a 5ms sample loop, there's no reason to run our loops at the
PWM rate since we have no PWM motors. This aligns wakeups a lot better
with CAN and reduced CPU load rather significantly.
Change-Id: I289792b732878c32b5e6a6ef931dfa5c8528a98a
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2024/wpilib_interface.cc b/y2024/wpilib_interface.cc
index 37486d7..c5ffd32 100644
--- a/y2024/wpilib_interface.cc
+++ b/y2024/wpilib_interface.cc
@@ -419,7 +419,7 @@
// Thread 3.
::aos::ShmEventLoop sensor_reader_event_loop(&config.message());
SensorReader sensor_reader(&sensor_reader_event_loop, robot_constants);
- sensor_reader.set_pwm_trigger(true);
+ sensor_reader.set_pwm_trigger(false);
sensor_reader.set_drivetrain_left_encoder(
std::make_unique<frc::Encoder>(8, 9));
sensor_reader.set_drivetrain_right_encoder(