Added basic drivetrain encoders to SensorReader.
Moved drivetrain out of year specific, shifters will still have to be
year specific.
Change-Id: I5fc2418b2b741432299792186a171de96f54dc15
diff --git a/frc971/wpilib/sensor_reader.cc b/frc971/wpilib/sensor_reader.cc
index 38989a4..24d33f8 100644
--- a/frc971/wpilib/sensor_reader.cc
+++ b/frc971/wpilib/sensor_reader.cc
@@ -10,6 +10,20 @@
SensorReader::SensorReader() {}
+void SensorReader::set_drivetrain_left_encoder(
+ ::std::unique_ptr<frc::Encoder> encoder) {
+ fast_encoder_filter_.Add(encoder.get());
+ drivetrain_left_encoder_ = ::std::move(encoder);
+}
+
+void SensorReader::set_drivetrain_right_encoder(
+ ::std::unique_ptr<frc::Encoder> encoder) {
+ fast_encoder_filter_.Add(encoder.get());
+ drivetrain_right_encoder_ = ::std::move(encoder);
+}
+
+// All of the DMA-related set_* calls must be made before this, and it
+// doesn't hurt to do all of them.
void SensorReader::set_dma(::std::unique_ptr<DMA> dma) {
dma_synchronizer_.reset(
new ::frc971::wpilib::DMASynchronizer(::std::move(dma)));