mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-24 01:31:46 +00:00
46 lines
1.7 KiB
C++
46 lines
1.7 KiB
C++
|
/*----------------------------------------------------------------------------*/
|
||
|
|
/* Copyright (c) 2020 FIRST. All Rights Reserved. */
|
||
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
||
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
||
|
|
/* the project. */
|
||
|
|
/*----------------------------------------------------------------------------*/
|
||
|
|
|
||
|
|
#include "glass/networktables/NTSpeedController.h"
|
||
|
|
|
||
|
|
using namespace glass;
|
||
|
|
|
||
|
|
NTSpeedControllerModel::NTSpeedControllerModel(wpi::StringRef path)
|
||
|
|
: NTSpeedControllerModel(nt::GetDefaultInstance(), path) {}
|
||
|
|
|
||
|
|
NTSpeedControllerModel::NTSpeedControllerModel(NT_Inst instance,
|
||
|
|
wpi::StringRef path)
|
||
|
|
: m_nt(instance),
|
||
|
|
m_value(m_nt.GetEntry(path + "/Value")),
|
||
|
|
m_name(m_nt.GetEntry(path + "/.name")),
|
||
|
|
m_valueData("NT_SpdCtrl:" + path),
|
||
|
|
m_nameValue(path.rsplit('/').second) {
|
||
|
|
m_nt.AddListener(m_value);
|
||
|
|
m_nt.AddListener(m_name);
|
||
|
|
Update();
|
||
|
|
}
|
||
|
|
|
||
|
|
void NTSpeedControllerModel::SetPercent(double value) {
|
||
|
|
nt::SetEntryValue(m_value, nt::NetworkTableValue::MakeDouble(value));
|
||
|
|
}
|
||
|
|
|
||
|
|
void NTSpeedControllerModel::Update() {
|
||
|
|
for (auto&& event : m_nt.PollListener()) {
|
||
|
|
if (event.entry == m_value) {
|
||
|
|
if (event.value && event.value->IsDouble())
|
||
|
|
m_valueData.SetValue(event.value->GetDouble());
|
||
|
|
} else if (event.entry == m_name) {
|
||
|
|
if (event.value && event.value->IsString())
|
||
|
|
m_nameValue = event.value->GetString();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
bool NTSpeedControllerModel::Exists() {
|
||
|
|
return m_nt.IsConnected() && nt::GetEntryType(m_value) != NT_UNASSIGNED;
|
||
|
|
}
|