Wait on all drivetrain signals for y2023
Position got added, but not to the wait list.
Change-Id: Id68272ebbaae2f46027aca0dae2da83d78f820fd
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2023/wpilib_interface.cc b/y2023/wpilib_interface.cc
index af16a69..da2bebb 100644
--- a/y2023/wpilib_interface.cc
+++ b/y2023/wpilib_interface.cc
@@ -437,7 +437,7 @@
};
static constexpr int kCANFalconCount = 6;
-static constexpr int kCANSignalsCount = 3;
+static constexpr int kCANSignalsCount = 4;
static constexpr units::frequency::hertz_t kCANUpdateFreqHz = 200_Hz;
class Falcon {
@@ -455,9 +455,9 @@
// device temp is not timesynced so don't add it to the list of signals
device_temp_.SetUpdateFrequency(kCANUpdateFreqHz);
- CHECK_EQ(kCANSignalsCount, 3);
+ CHECK_EQ(kCANSignalsCount, 4);
CHECK_NOTNULL(signals);
- CHECK_LE(signals->size() + 3u, signals->capacity());
+ CHECK_LE(signals->size() + 4u, signals->capacity());
supply_voltage_.SetUpdateFrequency(kCANUpdateFreqHz);
signals->push_back(&supply_voltage_);
@@ -588,14 +588,15 @@
private:
void Loop() {
- CHECK_EQ(signals_.size(), 18u);
+ CHECK_EQ(signals_.size(), 24u);
ctre::phoenix::StatusCode status =
ctre::phoenixpro::BaseStatusSignalValue::WaitForAll(
- 2000_ms,
- {signals_[0], signals_[1], signals_[2], signals_[3], signals_[4],
- signals_[5], signals_[6], signals_[7], signals_[8], signals_[9],
- signals_[10], signals_[11], signals_[12], signals_[13],
- signals_[14], signals_[15], signals_[16], signals_[17]});
+ 2000_ms, {signals_[0], signals_[1], signals_[2], signals_[3],
+ signals_[4], signals_[5], signals_[6], signals_[7],
+ signals_[8], signals_[9], signals_[10], signals_[11],
+ signals_[12], signals_[13], signals_[14], signals_[15],
+ signals_[16], signals_[17], signals_[18], signals_[19],
+ signals_[20], signals_[21], signals_[22], signals_[23]});
if (!status.IsOK()) {
AOS_LOG(ERROR, "Failed to read signals from falcons: %s: %s",