Send ADIS16448 values out as a batch
We switched the newer IMU over to using batches to reduce CPU usage,
time to switch the older IMU over too.
Change-Id: I11ba0d71947f112c4fbcc8b45749cf6fd988d2a4
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/frc971/wpilib/ADIS16448.h b/frc971/wpilib/ADIS16448.h
index 04d1712..59f9aa8 100644
--- a/frc971/wpilib/ADIS16448.h
+++ b/frc971/wpilib/ADIS16448.h
@@ -14,6 +14,7 @@
#include "aos/events/shm_event_loop.h"
#include "aos/logging/logging.h"
#include "frc971/wpilib/fpga_time_conversion.h"
+#include "frc971/wpilib/imu_batch_generated.h"
#include "frc971/wpilib/imu_generated.h"
#include "frc971/wpilib/spi_rx_clearer.h"
@@ -85,7 +86,7 @@
bool Initialize();
::aos::EventLoop *event_loop_;
- ::aos::Sender<::frc971::IMUValues> imu_values_sender_;
+ ::aos::Sender<::frc971::IMUValuesBatch> imu_values_sender_;
// TODO(Brian): This object has no business owning these ones.
const ::std::unique_ptr<frc::SPI> spi_;