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Split Sendable into NT and non-NT portions (#3432)

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The non-NT portion has been moved to wpiutil.
The NT portion has been moved to ntcore (as NTSendable).

SendableBuilder similarly split and moved.

SendableRegistry moved to wpiutil.

In C++, SendableHelper also moved to wpiutil.

This enables use of Sendable from wpimath and also enables
moving several classes from wpilib to wpimath.
This commit is contained in:
Peter Johnson
2021-06-13 16:38:05 -07:00
committed by GitHub
parent ef4ea84cb5
commit b417d961ec
196 changed files with 1147 additions and 891 deletions
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8
wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp
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@@ -5,13 +5,13 @@
#include "frc/DutyCycleEncoder.h"
#include <wpi/NullDeleter.h>
#include <wpi/sendable/SendableBuilder.h>
#include "frc/Counter.h"
#include "frc/DigitalInput.h"
#include "frc/DigitalSource.h"
#include "frc/DutyCycle.h"
#include "frc/Errors.h"
#include "frc/smartdashboard/SendableBuilder.h"
using namespace frc;
@@ -72,8 +72,8 @@ void DutyCycleEncoder::Init() {
m_analogTrigger->CreateOutput(AnalogTriggerType::kFallingPulse));
}
SendableRegistry::GetInstance().AddLW(this, "DutyCycle Encoder",
m_dutyCycle->GetSourceChannel());
wpi::SendableRegistry::GetInstance().AddLW(this, "DutyCycle Encoder",
m_dutyCycle->GetSourceChannel());
}
units::turn_t DutyCycleEncoder::Get() const {
@@ -148,7 +148,7 @@ int DutyCycleEncoder::GetSourceChannel() const {
return m_dutyCycle->GetSourceChannel();
}
void DutyCycleEncoder::InitSendable(SendableBuilder& builder) {
void DutyCycleEncoder::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("AbsoluteEncoder");
builder.AddDoubleProperty(
"Distance", [this] { return this->GetDistance(); }, nullptr);