Remove unused PWM writer code and fetchers
This appears to also reduce CPU load rather significantly.
Change-Id: I9b2cd6ecc3ec7715fb3d42adf93eb6e9730a7cfe
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2024/control_loops/superstructure/shooter.h b/y2024/control_loops/superstructure/shooter.h
index a551993..5363288 100644
--- a/y2024/control_loops/superstructure/shooter.h
+++ b/y2024/control_loops/superstructure/shooter.h
@@ -134,9 +134,6 @@
aos::Fetcher<frc971::control_loops::drivetrain::Status>
drivetrain_status_fetcher_;
- aos::Fetcher<y2024::control_loops::superstructure::CANPosition>
- superstructure_can_position_fetcher_;
-
const Constants *robot_constants_;
CatapultSubsystem catapult_;
diff --git a/y2024/wpilib_interface.cc b/y2024/wpilib_interface.cc
index c5ffd32..c478419 100644
--- a/y2024/wpilib_interface.cc
+++ b/y2024/wpilib_interface.cc
@@ -720,16 +720,6 @@
AddLoop(&can_output_event_loop);
- ::aos::ShmEventLoop pwm_event_loop(&config.message());
- SuperstructurePWMWriter superstructure_pwm_writer(&pwm_event_loop);
- superstructure_pwm_writer.set_catapult_kraken_one(
- make_unique<frc::TalonFX>(0));
- superstructure_pwm_writer.set_catapult_kraken_two(
- make_unique<frc::TalonFX>(1));
-
- AddLoop(&pwm_event_loop);
- // Thread 6
-
RunLoops();
}
};