Moved DrivetrainWriter from y2016
Change-Id: Iac26290494b2640e091b6c19dfa3e2a99e95a8dc
diff --git a/y2016/wpilib_interface.cc b/y2016/wpilib_interface.cc
index 52d0b1b..1d8ba23 100644
--- a/y2016/wpilib_interface.cc
+++ b/y2016/wpilib_interface.cc
@@ -38,6 +38,7 @@
#include "frc971/wpilib/buffered_solenoid.h"
#include "frc971/wpilib/dma.h"
#include "frc971/wpilib/dma_edge_counting.h"
+#include "frc971/wpilib/drivetrain_writer.h"
#include "frc971/wpilib/encoder_and_potentiometer.h"
#include "frc971/wpilib/gyro_sender.h"
#include "frc971/wpilib/interrupt_edge_counting.h"
@@ -492,37 +493,6 @@
::std::atomic<bool> run_{true};
};
-class DrivetrainWriter : public ::frc971::wpilib::LoopOutputHandler {
- public:
- void set_drivetrain_left_talon(::std::unique_ptr<Talon> t) {
- drivetrain_left_talon_ = ::std::move(t);
- }
-
- void set_drivetrain_right_talon(::std::unique_ptr<Talon> t) {
- drivetrain_right_talon_ = ::std::move(t);
- }
-
- private:
- virtual void Read() override {
- ::frc971::control_loops::drivetrain_queue.output.FetchAnother();
- }
-
- virtual void Write() override {
- auto &queue = ::frc971::control_loops::drivetrain_queue.output;
- LOG_STRUCT(DEBUG, "will output", *queue);
- drivetrain_left_talon_->SetSpeed(queue->left_voltage / 12.0);
- drivetrain_right_talon_->SetSpeed(-queue->right_voltage / 12.0);
- }
-
- virtual void Stop() override {
- LOG(WARNING, "drivetrain output too old\n");
- drivetrain_left_talon_->SetDisabled();
- drivetrain_right_talon_->SetDisabled();
- }
-
- ::std::unique_ptr<Talon> drivetrain_left_talon_, drivetrain_right_talon_;
-};
-
class ShooterWriter : public ::frc971::wpilib::LoopOutputHandler {
public:
void set_shooter_left_talon(::std::unique_ptr<Talon> t) {
@@ -670,11 +640,11 @@
::frc971::wpilib::ADIS16448 imu(SPI::Port::kMXP, imu_trigger.get());
::std::thread imu_thread(::std::ref(imu));
- DrivetrainWriter drivetrain_writer;
- drivetrain_writer.set_drivetrain_left_talon(
- ::std::unique_ptr<Talon>(new Talon(5)));
- drivetrain_writer.set_drivetrain_right_talon(
- ::std::unique_ptr<Talon>(new Talon(4)));
+ ::frc971::wpilib::DrivetrainWriter drivetrain_writer;
+ drivetrain_writer.set_left_controller0(
+ ::std::unique_ptr<Talon>(new Talon(5)), false);
+ drivetrain_writer.set_right_controller0(
+ ::std::unique_ptr<Talon>(new Talon(4)), true);
::std::thread drivetrain_writer_thread(::std::ref(drivetrain_writer));
ShooterWriter shooter_writer;