Fix DMA pulse width reader
Didn't work with multiple readers because we were using the last sample
time, not the last time the reading went high.
Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Change-Id: Ieedef0e8500f61d2881569bc7dfb56fbe843a97f
diff --git a/y2023/wpilib_interface.cc b/y2023/wpilib_interface.cc
index 7645bca..4dedd1d 100644
--- a/y2023/wpilib_interface.cc
+++ b/y2023/wpilib_interface.cc
@@ -136,9 +136,7 @@
}
void Start() override {
- // TODO(Ravago): Figure out why adding multiple DMA readers results in weird
- // behavior
- // AddToDMA(&imu_heading_reader_);
+ AddToDMA(&imu_heading_reader_);
AddToDMA(&imu_yaw_rate_reader_);
}