Chop out the MotorDanger junk
It had race conditions, and the inheritance hierarchy is a mess.
Change-Id: I4566ee5d7a53ec162c885a70bef3e2774555eef7
diff --git a/y2016_bot4/wpilib/wpilib_interface.cc b/y2016_bot4/wpilib/wpilib_interface.cc
index 70039f5..065494f 100644
--- a/y2016_bot4/wpilib/wpilib_interface.cc
+++ b/y2016_bot4/wpilib/wpilib_interface.cc
@@ -171,18 +171,18 @@
virtual void Write() override {
auto &queue = ::frc971::control_loops::drivetrain_queue.output;
LOG_STRUCT(DEBUG, "will output", *queue);
- drivetrain_left_talon_0_->Set(-queue->left_voltage / 12.0);
- drivetrain_left_talon_1_->Set(-queue->left_voltage / 12.0);
- drivetrain_right_talon_0_->Set(queue->right_voltage / 12.0);
- drivetrain_right_talon_1_->Set(queue->right_voltage / 12.0);
+ drivetrain_left_talon_0_->SetSpeed(-queue->left_voltage / 12.0);
+ drivetrain_left_talon_1_->SetSpeed(-queue->left_voltage / 12.0);
+ drivetrain_right_talon_0_->SetSpeed(queue->right_voltage / 12.0);
+ drivetrain_right_talon_1_->SetSpeed(queue->right_voltage / 12.0);
}
virtual void Stop() override {
LOG(WARNING, "drivetrain output too old\n");
- drivetrain_left_talon_0_->Disable();
- drivetrain_right_talon_0_->Disable();
- drivetrain_left_talon_1_->Disable();
- drivetrain_right_talon_1_->Disable();
+ drivetrain_left_talon_0_->SetDisabled();
+ drivetrain_right_talon_0_->SetDisabled();
+ drivetrain_left_talon_1_->SetDisabled();
+ drivetrain_right_talon_1_->SetDisabled();
}
::std::unique_ptr<Talon> drivetrain_left_talon_0_, drivetrain_right_talon_0_,