commit fcc0d121545a0a48878ddeffe79a10a9d6831d47
author Maxwell Henderson <mxwhenderson@gmail.com> Sat Aug 05 17:03:34 2023 -0700
committer Maxwell Henderson <mxwhenderson@gmail.com> Sat Aug 05 17:03:34 2023 -0700
tree 77346bf5fb31577b4600bfd33d64b3ee25a606a9
parent d5e685dd3dd11820ca432de1ebc9658f4bf2dce4

Switch to using phoenix6

Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: I1165e96be56628e29e6a86e3d0e92f07c560a80d

frc971/wpilib/falcon.h

diff --git a/frc971/wpilib/falcon.h b/frc971/wpilib/falcon.h
index 7137d82..f6858fd 100644
--- a/frc971/wpilib/falcon.h
+++ b/frc971/wpilib/falcon.h
@@ -5,7 +5,7 @@
 #include <cinttypes>
 #include <vector>
 
-#include "ctre/phoenixpro/TalonFX.hpp"
+#include "ctre/phoenix6/TalonFX.hpp"
 #include "glog/logging.h"
 
 #include "aos/init.h"
@@ -23,14 +23,14 @@
 class Falcon {
  public:
   Falcon(int device_id, std::string canbus,
-         std::vector<ctre::phoenixpro::BaseStatusSignalValue *> *signals,
+         std::vector<ctre::phoenix6::BaseStatusSignal *> *signals,
          double stator_current_limit, double supply_current_limit);
 
   void PrintConfigs();
 
-  void WriteConfigs(ctre::phoenixpro::signals::InvertedValue invert);
+  void WriteConfigs(ctre::phoenix6::signals::InvertedValue invert);
 
-  ctre::phoenixpro::hardware::TalonFX *talon() { return &talon_; }
+  ctre::phoenix6::hardware::TalonFX *talon() { return &talon_; }
 
   void SerializePosition(flatbuffers::FlatBufferBuilder *fbb);
 
@@ -66,19 +66,17 @@
   }
 
  private:
-  ctre::phoenixpro::hardware::TalonFX talon_;
+  ctre::phoenix6::hardware::TalonFX talon_;
   int device_id_;
 
-  ctre::phoenixpro::signals::InvertedValue inverted_;
+  ctre::phoenix6::signals::InvertedValue inverted_;
 
-  ctre::phoenixpro::StatusSignalValue<units::temperature::celsius_t>
-      device_temp_;
-  ctre::phoenixpro::StatusSignalValue<units::voltage::volt_t> supply_voltage_;
-  ctre::phoenixpro::StatusSignalValue<units::current::ampere_t> supply_current_,
+  ctre::phoenix6::StatusSignal<units::temperature::celsius_t> device_temp_;
+  ctre::phoenix6::StatusSignal<units::voltage::volt_t> supply_voltage_;
+  ctre::phoenix6::StatusSignal<units::current::ampere_t> supply_current_,
       torque_current_;
-  ctre::phoenixpro::StatusSignalValue<units::angle::turn_t> position_;
-  ctre::phoenixpro::StatusSignalValue<units::dimensionless::scalar_t>
-      duty_cycle_;
+  ctre::phoenix6::StatusSignal<units::angle::turn_t> position_;
+  ctre::phoenix6::StatusSignal<units::dimensionless::scalar_t> duty_cycle_;
 
   double stator_current_limit_;
   double supply_current_limit_;