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36 lines
989 B
C++
36 lines
989 B
C++
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "frc/smartdashboard/MechanismRoot2d.h"
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#include "frc/smartdashboard/Sendable.h"
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#include "frc/smartdashboard/SendableHelper.h"
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#include "frc/util/Color8Bit.h"
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using namespace frc;
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static constexpr char kPosition[] = "pos";
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MechanismRoot2d::MechanismRoot2d(const wpi::Twine& name, double x, double y,
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const private_init&)
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: MechanismObject2d(name.str()), m_x{x}, m_y{y} {}
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void MechanismRoot2d::SetPosition(double x, double y) {
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std::scoped_lock lock(m_mutex);
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m_x = x;
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m_y = y;
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Flush();
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}
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void MechanismRoot2d::UpdateEntries(std::shared_ptr<NetworkTable> table) {
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m_posEntry = table->GetEntry(kPosition);
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Flush();
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}
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inline void MechanismRoot2d::Flush() {
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if (m_posEntry) {
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m_posEntry.SetDoubleArray({m_x, m_y});
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}
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}
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