commit f40b6779ce083d9db1112b4c10c66bb1e5ecfe5d
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Sat Jun 22 16:04:03 2024 -0700
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Sat Aug 10 11:46:58 2024 -0700
tree 7dae5d925b0cd5a5186f5faf24a4a439e7dcaa81
parent e170bb88bfce0e4def09bf44cf9a40e895ed54e7

Add PDP fetcher and joystick sender to y2024_swerve

Change-Id: I1f38ba7cac8e9c2890438acfc43c943a4f79bb1d
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

y2024_swerve/BUILD

diff --git a/y2024_swerve/BUILD b/y2024_swerve/BUILD
index 2570141..133f11d 100644
--- a/y2024_swerve/BUILD
+++ b/y2024_swerve/BUILD
@@ -162,6 +162,8 @@
         "//frc971/control_loops/swerve:swerve_drivetrain_can_position_fbs",
         "//frc971/control_loops/swerve:swerve_drivetrain_position_fbs",
         "//frc971/wpilib:can_sensor_reader",
+        "//frc971/wpilib:joystick_sender",
+        "//frc971/wpilib:pdp_fetcher",
         "//frc971/wpilib:sensor_reader",
         "//frc971/wpilib:talonfx",
         "//frc971/wpilib:wpilib_robot_base",

y2024_swerve/wpilib_interface.cc

diff --git a/y2024_swerve/wpilib_interface.cc b/y2024_swerve/wpilib_interface.cc
index 3d370d0..f3c78eb 100644
--- a/y2024_swerve/wpilib_interface.cc
+++ b/y2024_swerve/wpilib_interface.cc
@@ -9,6 +9,8 @@
 #include "frc971/control_loops/swerve/swerve_drivetrain_can_position_static.h"
 #include "frc971/control_loops/swerve/swerve_drivetrain_position_static.h"
 #include "frc971/wpilib/can_sensor_reader.h"
+#include "frc971/wpilib/joystick_sender.h"
+#include "frc971/wpilib/pdp_fetcher.h"
 #include "frc971/wpilib/sensor_reader.h"
 #include "frc971/wpilib/swerve/swerve_drivetrain_writer.h"
 #include "frc971/wpilib/talonfx.h"
@@ -146,6 +148,15 @@
 
     AddLoop(&constant_fetcher_event_loop);
 
+    ::aos::ShmEventLoop joystick_sender_event_loop(&config.message());
+    ::frc971::wpilib::JoystickSender joystick_sender(
+        &joystick_sender_event_loop);
+    AddLoop(&joystick_sender_event_loop);
+
+    ::aos::ShmEventLoop pdp_fetcher_event_loop(&config.message());
+    ::frc971::wpilib::PDPFetcher pdp_fetcher(&pdp_fetcher_event_loop);
+    AddLoop(&pdp_fetcher_event_loop);
+
     std::vector<ctre::phoenix6::BaseStatusSignal *> signals_registry;
     std::vector<std::shared_ptr<TalonFX>> falcons;