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Switches PWM and DIO to Handles (#120)

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This commit is contained in:
Thad House
2016-06-30 21:39:09 -07:00
committed by Peter Johnson
parent 9b2af0d090
commit 3593ecb17e
37 changed files with 656 additions and 514 deletions
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25
wpilibc/athena/src/SensorBase.cpp
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@@ -20,31 +20,6 @@ const uint32_t SensorBase::kRelayChannels;
const uint32_t SensorBase::kPDPChannels;
const uint32_t SensorBase::kChassisSlots;
static bool portsInitialized = false;
void* SensorBase::m_digital_ports[kDigitalChannels];
void* SensorBase::m_pwm_ports[kPwmChannels];
/**
* Creates an instance of the sensor base and gets an FPGA handle
*/
SensorBase::SensorBase() {
if (!portsInitialized) {
for (uint32_t i = 0; i < kDigitalChannels; i++) {
HalPortHandle port = getPort(i);
int32_t status = 0;
m_digital_ports[i] = initializeDigitalPort(port, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
for (uint32_t i = 0; i < kPwmChannels; i++) {
HalPortHandle port = getPort(i);
int32_t status = 0;
m_pwm_ports[i] = initializeDigitalPort(port, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
}
}
/**
* Check that the solenoid module number is valid.
*