Added Drivetrain Writer.
Moved drivetrain writer out of year specific, started with changing
2019.
Change-Id: Id4738f4fe04ec390fb5d0a983a5597f1064b04db
diff --git a/y2019/wpilib_interface.cc b/y2019/wpilib_interface.cc
index 7a6a360..b216b4d 100644
--- a/y2019/wpilib_interface.cc
+++ b/y2019/wpilib_interface.cc
@@ -32,6 +32,7 @@
#include "frc971/control_loops/drivetrain/drivetrain.q.h"
#include "frc971/wpilib/ADIS16448.h"
#include "frc971/wpilib/dma.h"
+#include "frc971/wpilib/drivetrain_writer.h"
#include "frc971/wpilib/encoder_and_potentiometer.h"
#include "frc971/wpilib/joystick_sender.h"
#include "frc971/wpilib/logging.q.h"
@@ -128,40 +129,6 @@
}
};
-class DrivetrainWriter : public ::frc971::wpilib::LoopOutputHandler {
- public:
- void set_drivetrain_left_victor(::std::unique_ptr<::frc::VictorSP> t) {
- drivetrain_left_victor_ = ::std::move(t);
- }
-
- void set_drivetrain_right_victor(::std::unique_ptr<::frc::VictorSP> t) {
- drivetrain_right_victor_ = ::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_victor_->SetSpeed(
- ::aos::Clip(queue->left_voltage, -12.0, 12.0) / 12.0);
- drivetrain_right_victor_->SetSpeed(
- ::aos::Clip(-queue->right_voltage, -12.0, 12.0) / 12.0);
- }
-
- virtual void Stop() override {
- LOG(WARNING, "drivetrain output too old\n");
- drivetrain_left_victor_->SetDisabled();
- drivetrain_right_victor_->SetDisabled();
- }
-
- ::std::unique_ptr<::frc::VictorSP> drivetrain_left_victor_,
- drivetrain_right_victor_;
-};
-
class WPILibRobot : public ::frc971::wpilib::WPILibRobotBase {
public:
::std::unique_ptr<frc::Encoder> make_encoder(int index) {
@@ -201,11 +168,11 @@
// they are identical, as far as DrivetrainWriter is concerned, to the SP
// variety so all the Victors are written as SPs.
- DrivetrainWriter drivetrain_writer;
- drivetrain_writer.set_drivetrain_left_victor(
- ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(2)));
- drivetrain_writer.set_drivetrain_right_victor(
- ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(3)));
+ ::frc971::wpilib::DrivetrainWriter drivetrain_writer;
+ drivetrain_writer.set_left_controller0(
+ ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(2)), false);
+ drivetrain_writer.set_right_controller0(
+ ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(3)), false);
::std::thread drivetrain_writer_thread(::std::ref(drivetrain_writer));
// Wait forever. Not much else to do...