Fixed DMA time comparison.
Change-Id: I9aa454f3a3c75bd2ad65c0bcb62591e1acbc17f8
diff --git a/frc971/wpilib/dma_edge_counting.cc b/frc971/wpilib/dma_edge_counting.cc
index 102d12b..7f87956 100644
--- a/frc971/wpilib/dma_edge_counting.cc
+++ b/frc971/wpilib/dma_edge_counting.cc
@@ -38,7 +38,7 @@
}
if (remaining == 0) {
- if (sample_time_ < current_sample.GetTimestamp()) {
+ if (sample_time_ < current_sample.GetTime()) {
// If the latest DMA sample happened after we started polling, then
// just use the values from it because they're more recent.
for (auto &c : handlers_) {
diff --git a/frc971/wpilib/dma_edge_counting.h b/frc971/wpilib/dma_edge_counting.h
index c145268..9347c83 100644
--- a/frc971/wpilib/dma_edge_counting.h
+++ b/frc971/wpilib/dma_edge_counting.h
@@ -165,7 +165,7 @@
::std::vector<DMASampleHandlerInterface *> handlers_;
// The time at which we most recently read the sensor values.
- double sample_time_ = 0.0;
+ uint32_t sample_time_ = 0.0;
DISALLOW_COPY_AND_ASSIGN(DMASynchronizer);
};