Quote:
Originally Posted by Jared Russell
Bleh, now that you mention it I remember that it is a HAL accumulator, but the 200Hz bit is news to me; all Java code and documentation suggests that the period requested by spiInitAccumulator will be honored. Stuff like that ought to be documented.
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You made me curious too. I thought I had remembered 200Hz, but it does look like we bumped it to 1KHz by default, and it does honor the period requested by spiInitAccumulator.
The documentation and cleanup of WPILib has actually been one of the big goals this summer and offseason. The HAL API was basically rewritten to be typesafe and faster too, along with being closer to what a HAL should be. In addition to some much needed consistency improvements and cleanups.
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Co-developer of
RobotDotNet, a .NET port of the WPILib.
If we can transform our culture to the point where girls swoon over guys as they pull their dremel off their belt and carve some speed holes in a smooth fluid motion, I think FIRST is half way to its goal. When we get the guys to swoon over the girls for their hot moves on the 5-axis, we have won. - EricVanWyk [more] 
04-01-2017, 01:04
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