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/gyro_interface.cc b/frc971/wpilib/gyro_interface.cc
index 7ed24b7..a90e95a 100644
--- a/frc971/wpilib/gyro_interface.cc
+++ b/frc971/wpilib/gyro_interface.cc
@@ -18,9 +18,7 @@
// The myRIO goes up to 4MHz, so the roboRIO probably does too.
gyro_->SetClockRate(4e6);
gyro_->SetChipSelectActiveLow();
- gyro_->SetClockActiveHigh();
- gyro_->SetSampleDataOnRising();
- gyro_->SetMSBFirst();
+ gyro_->SetMode(frc::SPI::Mode::kMode3);
}
bool GyroInterface::InitializeGyro() {