Update WPILib, roborio compilers, and CTRE Phoenix libraries
This borrows heavily from work that Ravago did to initially get this
stuff working.
Tested rudimentary functionality on a test bench, ensured that we could:
* Enable the robot.
* Read joystick and button values.
* Switch between auto and teleop modes.
* Read sensor values (encoder, absolute encoder, potentiometer).
* Read PDP values.
* Drive PWM motors.
* Drive CANivore motors.
Non-WPILib changes are made to accommodate the upgrade roborio
compiler's improved pickiness.
Merge commit '125aac16d9bf03c833ffa18de2f113a33758a4b8' into HEAD
Change-Id: I8648956fb7517b2d784bf58e0a236742af7a306a
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/frc971/wpilib/ADIS16470.cc b/frc971/wpilib/ADIS16470.cc
index b7b315b..d43d2fb 100644
--- a/frc971/wpilib/ADIS16470.cc
+++ b/frc971/wpilib/ADIS16470.cc
@@ -204,9 +204,7 @@
// We're not doing burst mode, so this is the IMU's rated speed.
spi_->SetClockRate(2'000'000);
spi_->SetChipSelectActiveLow();
- spi_->SetClockActiveLow();
- spi_->SetSampleDataOnTrailingEdge();
- spi_->SetMSBFirst();
+ spi_->SetMode(frc::SPI::Mode::kMode3);
// NI's SPI driver defaults to SCHED_OTHER. Find it's PID with ps, and change
// it to a RT priority of 33.