Make talonfx use static flatbuffer api
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: I3ebc2e27c4bf3f5f715ce02fd6d80de63240c8e5
diff --git a/frc971/wpilib/talonfx.cc b/frc971/wpilib/talonfx.cc
index dd30f9d..5e77618 100644
--- a/frc971/wpilib/talonfx.cc
+++ b/frc971/wpilib/talonfx.cc
@@ -113,26 +113,13 @@
return status;
}
-
-void TalonFX::SerializePosition(flatbuffers::FlatBufferBuilder *fbb,
+void TalonFX::SerializePosition(control_loops::CANTalonFXStatic *can_talonfx,
double gear_ratio) {
- control_loops::CANTalonFX::Builder builder(*fbb);
- builder.add_id(device_id_);
- builder.add_device_temp(device_temp());
- builder.add_supply_voltage(supply_voltage());
- builder.add_supply_current(supply_current());
- builder.add_torque_current(torque_current());
- builder.add_duty_cycle(duty_cycle());
- builder.add_position(position() * gear_ratio);
-
- last_position_offset_ = builder.Finish();
-}
-
-std::optional<flatbuffers::Offset<control_loops::CANTalonFX>>
-TalonFX::TakeOffset() {
- auto option_offset = last_position_offset_;
-
- last_position_offset_.reset();
-
- return option_offset;
+ can_talonfx->set_id(device_id_);
+ can_talonfx->set_device_temp(device_temp());
+ can_talonfx->set_supply_voltage(supply_voltage());
+ can_talonfx->set_supply_current(supply_current());
+ can_talonfx->set_torque_current(torque_current());
+ can_talonfx->set_duty_cycle(duty_cycle());
+ can_talonfx->set_position(position() * gear_ratio);
}