Also added some references/smart pointers to a couple places
that seemed convenient to the user.
I haven't updated the constructors for RobotDrive() related
examples, pending the results of gerrit change https://usfirst.collab.net/gerrit/#/c/960/
A few things that we are noticing:
--It might be nice if ReturnPIDInput() didn't have to be const;
when people try to override it, they have to remember to put
the const in and if they don't, then the compiler error isn't the
most obvious (especially since this is a change). This would also
apply to PIDGet() in the PIDSource interface.
--SendableChooser still takes raw pointers. This could lead to an
issue I had to debug briefly where you accidentally call
GetSelected() on autoChooser and put the resulting raw pointer
into a unique_ptr, which destroys the pointer when it goes out of
scope. Specifically, I was testing the PacGoat example and
I ended up with a situation where if auto mode was run once, it
was fine, but if it was run twice, the selected command would
have been destroyed by the unique_ptr. I believe that this
just requires updating SendableChosser to take shared_ptr.
--When the samples are compiled with -pedantic, it points out that
START_ROBOT_CLASS macro expansion results in a redundant semicolon.
Change-Id: Ib4c025a61263d0d2780d4253faa31713e15333a5
Updated the HAL library to work with the new version 3 headers
from NI. There were multiple changes in this verison: more PWM
generators were added, so the functions for setting PWM signals have
been updated. UserWatchdog has been removed, and Watchdog has been
removed from WPILib to accomodate for this. Digital selection has been
consolidated to one function in the NI headers, so this has been updated
in the HAL. New SPI and I2C libraries have been added, but need to
be implemented in the HAL before they will work.
