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Switches relays to handles (#119)

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This commit is contained in:
Thad House
2016-06-29 18:58:14 -07:00
committed by Peter Johnson
parent e8e052712e
commit 9b2af0d090
10 changed files with 275 additions and 235 deletions
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15
wpilibc/athena/src/SensorBase.cpp
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@@ -22,7 +22,6 @@ const uint32_t SensorBase::kChassisSlots;
static bool portsInitialized = false;
void* SensorBase::m_digital_ports[kDigitalChannels];
void* SensorBase::m_relay_ports[kRelayChannels];
void* SensorBase::m_pwm_ports[kPwmChannels];
/**
@@ -37,13 +36,6 @@ SensorBase::SensorBase() {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
for (uint32_t i = 0; i < kRelayChannels; i++) {
HalPortHandle port = getPort(i);
int32_t status = 0;
m_relay_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;
@@ -77,16 +69,15 @@ bool SensorBase::CheckDigitalChannel(uint32_t channel) {
}
/**
* Check that the digital channel number is valid.
* Check that the relay channel number is valid.
*
* Verify that the channel number is one of the legal channel numbers. Channel
* numbers are 1-based.
* numbers are 0-based.
*
* @return Relay channel is valid
*/
bool SensorBase::CheckRelayChannel(uint32_t channel) {
if (channel < kRelayChannels) return true;
return false;
return checkRelayChannel((uint8_t)channel);
}
/**