Switch altitude and turret to DMA
We were over the amount of Counters we could have by 2 so we need 2
subsystems to be on DMA.
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: If68bae2c48cdbfa46ec0616ee5726e5fcc3ce057
diff --git a/y2024/wpilib_interface.cc b/y2024/wpilib_interface.cc
index ed5ac48..4e61940 100644
--- a/y2024/wpilib_interface.cc
+++ b/y2024/wpilib_interface.cc
@@ -135,8 +135,15 @@
::frc971::control_loops::drivetrain::PositionStatic>(
"/drivetrain")),
gyro_sender_(event_loop->MakeSender<::frc971::sensors::GyroReading>(
- "/drivetrain")){};
- void Start() override { AddToDMA(&imu_yaw_rate_reader_); }
+ "/drivetrain")) {
+ UpdateFastEncoderFilterHz(kMaxFastEncoderPulsesPerSecond);
+ event_loop->SetRuntimeAffinity(aos::MakeCpusetFromCpus({0}));
+ };
+ void Start() override {
+ AddToDMA(&imu_yaw_rate_reader_);
+ AddToDMA(&turret_encoder_.reader());
+ AddToDMA(&altitude_encoder_.reader());
+ }
// Auto mode switches.
void set_autonomous_mode(int i, ::std::unique_ptr<frc::DigitalInput> sensor) {
@@ -325,9 +332,12 @@
frc971::wpilib::AbsoluteEncoder intake_pivot_encoder_;
frc971::wpilib::AbsoluteEncoderAndPotentiometer climber_encoder_,
- catapult_encoder_, turret_encoder_, altitude_encoder_, extend_encoder_;
+ catapult_encoder_, extend_encoder_;
frc971::wpilib::DMAPulseWidthReader imu_yaw_rate_reader_;
+
+ frc971::wpilib::DMAAbsoluteEncoderAndPotentiometer turret_encoder_,
+ altitude_encoder_;
};
class WPILibRobot : public ::frc971::wpilib::WPILibRobotBase {