Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

Add loop timing to IterativeRobot and TimedRobot (#781)

Browse Source
This commit is contained in:
Tyler Veness
2018-06-24 02:29:21 -05:00
committed by Peter Johnson
parent 50b13d2f36
commit a818c7fd47
11 changed files with 409 additions and 63 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
wpilibc/src/main/native/cpp/TimedRobot.cpp
View File

@@ -23,8 +23,6 @@ void TimedRobot::StartCompetition() {
// Tell the DS that the robot is ready to be enabled
HAL_ObserveUserProgramStarting();
m_startLoop = true;
m_expirationTime = Timer::GetFPGATimestamp() + m_period;
UpdateAlarm();
@@ -43,18 +41,9 @@ void TimedRobot::StartCompetition() {
}
}
void TimedRobot::SetPeriod(double period) {
m_period = period;
if (m_startLoop) {
m_expirationTime = Timer::GetFPGATimestamp() + period;
UpdateAlarm();
}
}
double TimedRobot::GetPeriod() const { return m_period; }
TimedRobot::TimedRobot() {
TimedRobot::TimedRobot(double period) : IterativeRobotBase(period) {
int32_t status = 0;
m_notifier = HAL_InitializeNotifier(&status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));