mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
27b67deca6
This adds the following widgets: - Speed Controller - Gyroscope - Command - Subsystem - PIDController - Scheduler
41 lines
1.4 KiB
C++
41 lines
1.4 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2020 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "glass/networktables/NTGyro.h"
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using namespace glass;
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NTGyroModel::NTGyroModel(wpi::StringRef path)
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: NTGyroModel(nt::GetDefaultInstance(), path) {}
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NTGyroModel::NTGyroModel(NT_Inst instance, wpi::StringRef path)
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: m_nt(instance),
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m_angle(m_nt.GetEntry(path + "/Value")),
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m_name(m_nt.GetEntry(path + "/.name")),
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m_angleData("NT_Gyro:" + path),
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m_nameValue(path.rsplit('/').second) {
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m_nt.AddListener(m_angle);
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m_nt.AddListener(m_name);
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Update();
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}
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void NTGyroModel::Update() {
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for (auto&& event : m_nt.PollListener()) {
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if (event.entry == m_angle) {
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if (event.value && event.value->IsDouble())
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m_angleData.SetValue(event.value->GetDouble());
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} else if (event.entry == m_name) {
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if (event.value && event.value->IsString())
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m_nameValue = event.value->GetString();
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}
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}
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}
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bool NTGyroModel::Exists() {
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return m_nt.IsConnected() && nt::GetEntryType(m_angle) != NT_UNASSIGNED;
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}
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