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MotorSafety: Use Watchdog instead of DS class polling (#1442)

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This commit is contained in:
Tyler Veness
2018-12-01 01:34:52 -08:00
committed by Peter Johnson
parent 0d0492bfcc
commit 26e8e587f9
6 changed files with 49 additions and 154 deletions
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8
wpilibc/src/main/native/cpp/DriverStation.cpp
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@@ -19,7 +19,6 @@
#include <wpi/StringRef.h>
#include "frc/AnalogInput.h"
#include "frc/MotorSafety.h"
#include "frc/Timer.h"
#include "frc/Utility.h"
#include "frc/WPIErrors.h"
@@ -549,17 +548,10 @@ void DriverStation::ReportJoystickUnpluggedWarning(const wpi::Twine& message) {
void DriverStation::Run() {
m_isRunning = true;
int safetyCounter = 0;
while (m_isRunning) {
HAL_WaitForDSData();
GetData();
if (IsDisabled()) safetyCounter = 0;
if (++safetyCounter >= 4) {
MotorSafety::CheckMotors();
safetyCounter = 0;
}
if (m_userInDisabled) HAL_ObserveUserProgramDisabled();
if (m_userInAutonomous) HAL_ObserveUserProgramAutonomous();
if (m_userInTeleop) HAL_ObserveUserProgramTeleop();