From 126e3de91a88ed6fd5b3b415b1fbb2bcdf876aa7 Mon Sep 17 00:00:00 2001 From: Tyler Veness Date: Thu, 24 Mar 2022 07:24:12 -0700 Subject: [PATCH] [wpilibc] Remove unused SetPriority() call from Ultrasonic (#4123) --- wpilibc/src/main/native/cpp/Ultrasonic.cpp | 5 ----- wpilibc/src/main/native/include/frc/Ultrasonic.h | 3 --- 2 files changed, 8 deletions(-) diff --git a/wpilibc/src/main/native/cpp/Ultrasonic.cpp b/wpilibc/src/main/native/cpp/Ultrasonic.cpp index 02035dd14a..c441c7164d 100644 --- a/wpilibc/src/main/native/cpp/Ultrasonic.cpp +++ b/wpilibc/src/main/native/cpp/Ultrasonic.cpp @@ -120,11 +120,6 @@ void Ultrasonic::SetAutomaticMode(bool enabling) { } m_thread = std::thread(&Ultrasonic::UltrasonicChecker); - - // TODO: Currently, lvuser does not have permissions to set task priorities. - // Until that is the case, uncommenting this will break user code that calls - // Ultrasonic::SetAutomicMode(). - // m_task.SetPriority(kPriority); } else { // Wait for background task to stop running if (m_thread.joinable()) { diff --git a/wpilibc/src/main/native/include/frc/Ultrasonic.h b/wpilibc/src/main/native/include/frc/Ultrasonic.h index 253192f1c7..850f7b3337 100644 --- a/wpilibc/src/main/native/include/frc/Ultrasonic.h +++ b/wpilibc/src/main/native/include/frc/Ultrasonic.h @@ -167,9 +167,6 @@ class Ultrasonic : public wpi::Sendable, // Time (sec) for the ping trigger pulse. static constexpr double kPingTime = 10 * 1e-6; - // Priority that the ultrasonic round robin task runs. - static constexpr int kPriority = 64; - // Max time (ms) between readings. static constexpr auto kMaxUltrasonicTime = 0.1_s; static constexpr auto kSpeedOfSound = 1130_fps;