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Originally Posted by CyberWolf_22
I have been reading over the WPILib and I am really excited about it but I still want to be able to perform advanced operations.
When I wrote some code using the ifi_aliases, like pwm01 or p1_y I, I can not compile it. I realize why these don't work because they are not defined anywhere but what I want to do is directly access the values of the OI inputs and the pwm ports when using WPILib. Is there any way for me to be able to do this?
Thank You,
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You are correct. To get that extra performance you can access the OI values, and the PWM outputs and digital I/O directly. To get those values you need to include "ifi_aliases.h" and "ifi_default.h" files from the IFI default code (either 2005 or 2006).
It turns out that we are doing exactly that on the Team 190 robot - most of those functions you might replace with a single assignment statement are there for EasyC and correspond to blocks in the palette. If you are hand writing code, feel free to access those registers and IFI data structures directly.