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

Update LiveWindow to provide continuous telemetry. (#771)

Browse Source 
LiveWindow.updateValues() is now called from IterativeRobotBase on every
loop iteration.  Telemetry for all WPILib classes is enabled by default;
it can be disabled for specific classes using LiveWindow.disableTelemetry(),
or all telemetry can be disabled using LiveWindow.disableAllTelemetry().

This necessitated changing the hook methodology into other classes to
be more property-based rather than each class providing multiple functions.
This had the benefit of reducing boilerplate and increasing consistency.

- Remove NamedSendable, add name to Sendable.

- Provide SendableBase abstract class.

- Deprecate LiveWindow addSensor/addActuator interfaces.

- Add LiveWindow support to drive classes.

- Add addChild() helper functions to Subsystem.

- Fix inheritance hierarchy.  Now only sensors inherit from SensorBase.
  Other devices inherit from some combination of SendableBase, ErrorBase, or
  nothing.
This commit is contained in:
Peter Johnson
2017-12-04 23:28:33 -08:00
committed by GitHub
parent 3befc7015b
commit f9bece2ffb
213 changed files with 3704 additions and 3758 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
wpilibc/src/main/native/cpp/Commands/PIDSubsystem.cpp
View File

@@ -23,6 +23,7 @@ PIDSubsystem::PIDSubsystem(const std::string& name, double p, double i,
double d)
: Subsystem(name) {
m_controller = std::make_shared<PIDController>(p, i, d, this, this);
AddChild("PIDController", m_controller);
}
/**
@@ -38,6 +39,7 @@ PIDSubsystem::PIDSubsystem(const std::string& name, double p, double i,
double d, double f)
: Subsystem(name) {
m_controller = std::make_shared<PIDController>(p, i, d, f, this, this);
AddChild("PIDController", m_controller);
}
/**
@@ -58,6 +60,7 @@ PIDSubsystem::PIDSubsystem(const std::string& name, double p, double i,
: Subsystem(name) {
m_controller =
std::make_shared<PIDController>(p, i, d, f, this, this, period);
AddChild("PIDController", m_controller);
}
/**
@@ -72,6 +75,7 @@ PIDSubsystem::PIDSubsystem(const std::string& name, double p, double i,
PIDSubsystem::PIDSubsystem(double p, double i, double d)
: Subsystem("PIDSubsystem") {
m_controller = std::make_shared<PIDController>(p, i, d, this, this);
AddChild("PIDController", m_controller);
}
/**
@@ -87,6 +91,7 @@ PIDSubsystem::PIDSubsystem(double p, double i, double d)
PIDSubsystem::PIDSubsystem(double p, double i, double d, double f)
: Subsystem("PIDSubsystem") {
m_controller = std::make_shared<PIDController>(p, i, d, f, this, this);
AddChild("PIDController", m_controller);
}
/**
@@ -106,6 +111,7 @@ PIDSubsystem::PIDSubsystem(double p, double i, double d, double f,
: Subsystem("PIDSubsystem") {
m_controller =
std::make_shared<PIDController>(p, i, d, f, this, this, period);
AddChild("PIDController", m_controller);
}
/**
@@ -233,10 +239,3 @@ double PIDSubsystem::GetRate() { return ReturnPIDInput(); }
void PIDSubsystem::PIDWrite(double output) { UsePIDOutput(output); }
double PIDSubsystem::PIDGet() { return ReturnPIDInput(); }
std::string PIDSubsystem::GetSmartDashboardType() const { return "PIDCommand"; }
void PIDSubsystem::InitTable(std::shared_ptr<nt::NetworkTable> subtable) {
m_controller->InitTable(subtable);
Subsystem::InitTable(subtable);
}