Convert all year's robots to proper event loops
Each robot has a couple of event loops, one per thread. Each of these
threads corresponds to the threads from before the change. y2016 has
been tested on real hardware.
Change-Id: I99f726a8bc0498204c1a3b99f15508119eed9ad3
diff --git a/frc971/wpilib/drivetrain_writer.cc b/frc971/wpilib/drivetrain_writer.cc
index 8d388dc..fdbc028 100644
--- a/frc971/wpilib/drivetrain_writer.cc
+++ b/frc971/wpilib/drivetrain_writer.cc
@@ -10,27 +10,23 @@
namespace frc971 {
namespace wpilib {
-void DrivetrainWriter::Write() {
- auto &queue = ::frc971::control_loops::drivetrain_queue.output;
- LOG_STRUCT(DEBUG, "will output", *queue);
- left_controller0_->SetSpeed(SafeSpeed(reversed_left0_, queue->left_voltage));
+void DrivetrainWriter::Write(
+ const ::frc971::control_loops::DrivetrainQueue::Output &output) {
+ LOG_STRUCT(DEBUG, "will output", output);
+ left_controller0_->SetSpeed(SafeSpeed(reversed_left0_, output.left_voltage));
right_controller0_->SetSpeed(
- SafeSpeed(reversed_right0_, queue->right_voltage));
+ SafeSpeed(reversed_right0_, output.right_voltage));
if (left_controller1_) {
left_controller1_->SetSpeed(
- SafeSpeed(reversed_left1_, queue->left_voltage));
+ SafeSpeed(reversed_left1_, output.left_voltage));
}
if (right_controller1_) {
right_controller1_->SetSpeed(
- SafeSpeed(reversed_right1_, queue->right_voltage));
+ SafeSpeed(reversed_right1_, output.right_voltage));
}
}
-void DrivetrainWriter::Read() {
- ::frc971::control_loops::drivetrain_queue.output.FetchAnother();
-}
-
void DrivetrainWriter::Stop() {
LOG(WARNING, "drivetrain output too old\n");
left_controller0_->SetDisabled();