Moved DrivetrainWriter from y2012
Change-Id: Ife613066312f950d2c11efd1a8db98ff02beb3ec
diff --git a/y2012/wpilib_interface.cc b/y2012/wpilib_interface.cc
index 27e8b77..2ea3532 100644
--- a/y2012/wpilib_interface.cc
+++ b/y2012/wpilib_interface.cc
@@ -34,6 +34,7 @@
#include "frc971/wpilib/buffered_solenoid.h"
#include "frc971/wpilib/dma.h"
#include "frc971/wpilib/dma_edge_counting.h"
+#include "frc971/wpilib/drivetrain_writer.h"
#include "frc971/wpilib/encoder_and_potentiometer.h"
#include "frc971/wpilib/gyro_sender.h"
#include "frc971/wpilib/interrupt_edge_counting.h"
@@ -181,38 +182,6 @@
::std::atomic<bool> run_{true};
};
-class DrivetrainWriter : public ::frc971::wpilib::LoopOutputHandler {
- public:
- void set_left_drivetrain_talon(::std::unique_ptr<Talon> t) {
- left_drivetrain_talon_ = ::std::move(t);
- }
-
- void set_right_drivetrain_talon(::std::unique_ptr<Talon> t) {
- right_drivetrain_talon_ = ::std::move(t);
- }
-
- private:
- virtual void Read() override {
- drivetrain_queue.output.FetchAnother();
- }
-
- virtual void Write() override {
- auto &queue = drivetrain_queue.output;
- LOG_STRUCT(DEBUG, "will output", *queue);
- left_drivetrain_talon_->SetSpeed(-queue->left_voltage / 12.0);
- right_drivetrain_talon_->SetSpeed(queue->right_voltage / 12.0);
- }
-
- virtual void Stop() override {
- LOG(WARNING, "drivetrain output too old\n");
- left_drivetrain_talon_->SetDisabled();
- right_drivetrain_talon_->SetDisabled();
- }
-
- ::std::unique_ptr<Talon> left_drivetrain_talon_;
- ::std::unique_ptr<Talon> right_drivetrain_talon_;
-};
-
class AccessoriesWriter : public ::frc971::wpilib::LoopOutputHandler {
public:
void set_talon1(::std::unique_ptr<Talon> t) {
@@ -266,11 +235,11 @@
::std::thread reader_thread(::std::ref(reader));
- DrivetrainWriter drivetrain_writer;
- drivetrain_writer.set_left_drivetrain_talon(
- ::std::unique_ptr<Talon>(new Talon(3)));
- drivetrain_writer.set_right_drivetrain_talon(
- ::std::unique_ptr<Talon>(new Talon(4)));
+ ::frc971::wpilib::DrivetrainWriter drivetrain_writer;
+ drivetrain_writer.set_left_controller0(
+ ::std::unique_ptr<Talon>(new Talon(3)), true);
+ drivetrain_writer.set_right_controller0(
+ ::std::unique_ptr<Talon>(new Talon(4)), false);
::std::thread drivetrain_writer_thread(::std::ref(drivetrain_writer));
::y2012::wpilib::AccessoriesWriter accessories_writer;