Make the IMU communications more reliable
This hooks up support for the reset line and forces the chip select line
to actually change state.
Change-Id: I41427334789e373728cbb9b4327f17540aadbc33
diff --git a/y2017/wpilib_interface.cc b/y2017/wpilib_interface.cc
index 09d36a6..d13df96 100644
--- a/y2017/wpilib_interface.cc
+++ b/y2017/wpilib_interface.cc
@@ -605,6 +605,9 @@
auto imu_trigger = make_unique<DigitalInput>(3);
::frc971::wpilib::ADIS16448 imu(SPI::Port::kOnboardCS1, imu_trigger.get());
+ imu.SetDummySPI(SPI::Port::kOnboardCS2);
+ auto imu_reset = make_unique<DigitalOutput>(6);
+ imu.set_reset(imu_reset.get());
::std::thread imu_thread(::std::ref(imu));
DrivetrainWriter drivetrain_writer;