commit a250b2d60e7e4b41c8a8e23b3a792d0f5461eea9
author Austin Schuh <austin.linux@gmail.com> Mon May 27 16:14:02 2019 -0700
committer Austin Schuh <austin.linux@gmail.com> Wed May 29 20:45:44 2019 -0700
tree ac331463af461bfbf6ac52f0c46e3449bb2f271e
parent 300f2f6f39716385d311669cd09710bf2770be51

Convert joystick readers to ActionJoystickInput

This removes most direct users of the autonomous queues.  Convert the
rest over to EventLoops.

Change-Id: I47ac7d5583d597cc9244573d810d512210d1e111

y2017/wpilib_interface.cc

diff --git a/y2017/wpilib_interface.cc b/y2017/wpilib_interface.cc
index 5dbf29d..6fd02fc 100644
--- a/y2017/wpilib_interface.cc
+++ b/y2017/wpilib_interface.cc
@@ -126,7 +126,10 @@
 class SensorReader : public ::frc971::wpilib::SensorReader {
  public:
   SensorReader(::aos::EventLoop *event_loop)
-      : ::frc971::wpilib::SensorReader(event_loop) {
+      : ::frc971::wpilib::SensorReader(event_loop),
+        auto_mode_sender_(
+            event_loop->MakeSender<::frc971::autonomous::AutonomousMode>(
+                ".frc971.autonomous.auto_mode")) {
     // Set to filter out anything shorter than 1/4 of the minimum pulse width
     // we should ever see.
     UpdateFastEncoderFilterHz(kMaxFastEncoderPulsesPerSecond);
@@ -244,7 +247,7 @@
     }
 
     {
-      auto auto_mode_message = ::frc971::autonomous::auto_mode.MakeMessage();
+      auto auto_mode_message = auto_mode_sender_.MakeMessage();
       auto_mode_message->mode = 0;
       for (size_t i = 0; i < autonomous_modes_.size(); ++i) {
         if (autonomous_modes_[i] && autonomous_modes_[i]->Get()) {
@@ -257,6 +260,8 @@
   }
 
  private:
+  ::aos::Sender<::frc971::autonomous::AutonomousMode> auto_mode_sender_;
+
   DigitalGlitchFilter hall_filter_;
 
   ::frc971::wpilib::AbsoluteEncoderAndPotentiometer intake_encoder_;