Merge commit '4ee017201227ce16a4edef20912b357e8f303483' into master
Update WPILib for the 2022 beta test. This now actually runs on my RIO
2.0!
Change-Id: I6d335f61c6abe50facca76f4f5014537e742f1ac
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2018/wpilib_interface.cc b/y2018/wpilib_interface.cc
index 8c8560a..ef4c058 100644
--- a/y2018/wpilib_interface.cc
+++ b/y2018/wpilib_interface.cc
@@ -12,6 +12,7 @@
#include "ctre/phoenix/CANifier.h"
#include "frc971/wpilib/ahal/AnalogInput.h"
+#include "frc971/wpilib/ahal/Compressor.h"
#include "frc971/wpilib/ahal/Counter.h"
#include "frc971/wpilib/ahal/DigitalGlitchFilter.h"
#include "frc971/wpilib/ahal/DriverStation.h"
@@ -442,22 +443,11 @@
event_loop->MakeFetcher<::y2018::vision::VisionStatus>("/vision")),
pneumatics_to_log_sender_(
event_loop->MakeSender<::frc971::wpilib::PneumaticsToLog>("/aos")),
- pcm_(pcm) {
+ pcm_(pcm),
+ compressor_(0) {
event_loop->set_name("Solenoids");
event_loop_->SetRuntimeRealtimePriority(27);
- int32_t status = 0;
- HAL_CompressorHandle compressor_ = HAL_InitializeCompressor(0, &status);
- if (status != 0) {
- AOS_LOG(ERROR, "Compressor status is nonzero, %d\n",
- static_cast<int>(status));
- }
- HAL_SetCompressorClosedLoopControl(compressor_, true, &status);
- if (status != 0) {
- AOS_LOG(ERROR, "Compressor status is nonzero, %d\n",
- static_cast<int>(status));
- }
-
event_loop_->AddPhasedLoop([this](int iterations) { Loop(iterations); },
::std::chrono::milliseconds(20),
::std::chrono::milliseconds(1));
@@ -607,8 +597,6 @@
left_drivetrain_shifter_, right_drivetrain_shifter_, claw_, arm_brakes_,
hook_, forks_;
- HAL_CompressorHandle compressor_;
-
::ctre::phoenix::CANifier canifier_{0};
::std::atomic<bool> run_{true};
@@ -617,6 +605,8 @@
double last_green_ = -1.0;
double last_blue_ = -1.0;
+ frc::Compressor compressor_;
+
int light_flash_ = 0;
};