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[Workaround] Publish rawBytes as periodic (#707)

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Closes #704 -- addressed by upstream PR https://github.com/wpilibsuite/allwpilib/pull/4903 (not released yet)
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Matt
2023-01-06 14:53:19 -08:00
committed by GitHub
parent dbe7464ea9
commit 087429dab9
3 changed files with 13 additions and 3 deletions
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6
photon-targeting/src/main/java/org/photonvision/common/networktables/NTTopicSet.java
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@@ -26,6 +26,7 @@ import edu.wpi.first.networktables.IntegerPublisher;
import edu.wpi.first.networktables.IntegerSubscriber;
import edu.wpi.first.networktables.IntegerTopic;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.PubSubOption;
import edu.wpi.first.networktables.RawPublisher;
/**
@@ -65,7 +66,10 @@ public class NTTopicSet {
public IntegerPublisher heartbeatPublisher;
public void updateEntries() {
rawBytesEntry = subTable.getRawTopic("rawBytes").publish("rawBytes");
rawBytesEntry =
subTable
.getRawTopic("rawBytes")
.publish("rawBytes", PubSubOption.periodic(0.01), PubSubOption.sendAll(true));
pipelineIndexTopic = subTable.getIntegerTopic("pipelineIndex");
pipelineIndexPublisher = pipelineIndexTopic.publish();