commit 6c6faaf47f1bf7bc954b85058bec8f48f2c1be55
author Maxwell Henderson <mxwhenderson@gmail.com> Wed Jul 26 19:44:24 2023 -0700
committer Maxwell Henderson <mxwhenderson@gmail.com> Sat Aug 05 17:08:13 2023 -0700
tree ea0af5b91a42f708d09fa760f2a7bd5633290301
parent fcc0d121545a0a48878ddeffe79a10a9d6831d47

Let user choose how to send CANPosition

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

Change-Id: I92b3e2da71e8bf6b5ddb532a1b05a9610abe0236

frc971/wpilib/can_sensor_reader.h

diff --git a/frc971/wpilib/can_sensor_reader.h b/frc971/wpilib/can_sensor_reader.h
index 56da2fb..764a041 100644
--- a/frc971/wpilib/can_sensor_reader.h
+++ b/frc971/wpilib/can_sensor_reader.h
@@ -16,7 +16,9 @@
   CANSensorReader(
       aos::EventLoop *event_loop,
       std::vector<ctre::phoenix6::BaseStatusSignal *> signals_registry,
-      std::vector<std::shared_ptr<Falcon>> falcons);
+      std::vector<std::shared_ptr<Falcon>> falcons,
+      std::function<void(ctre::phoenix::StatusCode status)>
+          flatbuffer_callback);
 
  private:
   void Loop();
@@ -24,7 +26,6 @@
   aos::EventLoop *event_loop_;
 
   const std::vector<ctre::phoenix6::BaseStatusSignal *> signals_;
-  aos::Sender<control_loops::drivetrain::CANPosition> can_position_sender_;
 
   // This is a vector of falcons becuase we don't need to care
   // about falcons individually.
@@ -32,6 +33,9 @@
 
   // Pointer to the timer handler used to modify the wakeup.
   ::aos::TimerHandler *timer_handler_;
+
+  // Callback used to send the CANPosition flatbuffer
+  std::function<void(ctre::phoenix::StatusCode status)> flatbuffer_callback_;
 };
 }  // namespace wpilib
 }  // namespace frc971