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Update wpilibc to use new NetworkTables package and interfaces.

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This commit is contained in:
Peter Johnson
2017-09-02 00:17:43 -07:00
parent 4e80570c4c
commit 040a8c6bcc
74 changed files with 937 additions and 721 deletions
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23
wpilibc/src/main/native/cpp/Encoder.cpp
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@@ -480,14 +480,14 @@ int Encoder::GetFPGAIndex() const {
}
void Encoder::UpdateTable() {
if (m_table != nullptr) {
m_table->PutNumber("Speed", GetRate());
m_table->PutNumber("Distance", GetDistance());
if (m_speedEntry) m_speedEntry.SetDouble(GetRate());
if (m_distanceEntry) m_distanceEntry.SetDouble(GetDistance());
if (m_distancePerTickEntry) {
int32_t status = 0;
double distancePerPulse =
HAL_GetEncoderDistancePerPulse(m_encoder, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
m_table->PutNumber("Distance per Tick", distancePerPulse);
m_distancePerTickEntry.SetDouble(distancePerPulse);
}
}
@@ -505,9 +505,18 @@ std::string Encoder::GetSmartDashboardType() const {
return "Encoder";
}
void Encoder::InitTable(std::shared_ptr<ITable> subTable) {
void Encoder::InitTable(std::shared_ptr<nt::NetworkTable> subTable) {
m_table = subTable;
UpdateTable();
if (m_table) {
m_speedEntry = m_table->GetEntry("Speed");
m_distanceEntry = m_table->GetEntry("Distance");
m_distancePerTickEntry = m_table->GetEntry("Distance per Tick");
UpdateTable();
} else {
m_speedEntry = nt::NetworkTableEntry();
m_distanceEntry = nt::NetworkTableEntry();
m_distancePerTickEntry = nt::NetworkTableEntry();
}
}
std::shared_ptr<ITable> Encoder::GetTable() const { return m_table; }
std::shared_ptr<nt::NetworkTable> Encoder::GetTable() const { return m_table; }