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[wpilib] Only read DS control word once in IterativeRobotBase (#3504)

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This commit is contained in:
Tyler Veness
2021-08-11 18:05:07 -07:00
committed by GitHub
parent eb790a74d2
commit c159f91f06
5 changed files with 296 additions and 8 deletions
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10
wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
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@@ -8,6 +8,7 @@
#include <hal/DriverStation.h>
#include <networktables/NetworkTableInstance.h>
#include "frc/DSControlWord.h"
#include "frc/Errors.h"
#include "frc/livewindow/LiveWindow.h"
#include "frc/shuffleboard/Shuffleboard.h"
@@ -102,14 +103,15 @@ void IterativeRobotBase::LoopFunc() {
m_watchdog.Reset();
// Get current mode
DSControlWord word;
Mode mode = Mode::kNone;
if (IsDisabled()) {
if (word.IsDisabled()) {
mode = Mode::kDisabled;
} else if (IsAutonomous()) {
} else if (word.IsAutonomous()) {
mode = Mode::kAutonomous;
} else if (IsOperatorControl()) {
} else if (word.IsTeleop()) {
mode = Mode::kTeleop;
} else if (IsTest()) {
} else if (word.IsTest()) {
mode = Mode::kTest;
}