implement reading the gyro over SPI
Change-Id: Iee3041f45e5df9f079a60eb48726659d88513417
diff --git a/frc971/queues/gyro.q b/frc971/queues/gyro.q
new file mode 100644
index 0000000..7b234a1
--- /dev/null
+++ b/frc971/queues/gyro.q
@@ -0,0 +1,13 @@
+package frc971.sensors;
+
+message GyroReading {
+ // Positive is counter-clockwise (Austin says "it's Positive").
+ // Right-hand coordinate system around the Z-axis going up.
+ double angle;
+};
+queue GyroReading gyro_reading;
+
+message Uid {
+ uint32_t uid;
+};
+queue Uid gyro_part_id;
diff --git a/frc971/queues/other_sensors.q b/frc971/queues/other_sensors.q
index 7a33567..85f2ad6 100644
--- a/frc971/queues/other_sensors.q
+++ b/frc971/queues/other_sensors.q
@@ -6,13 +6,6 @@
};
queue OtherSensors other_sensors;
-message GyroReading {
- // Positive is counter-clockwise (Austin says "it's Positive").
- // Right-hand coordinate system around the Z-axis going up.
- double angle;
-};
-queue GyroReading gyro_reading;
-
message AutoMode {
double voltage;
};
diff --git a/frc971/queues/queues.gyp b/frc971/queues/queues.gyp
index 9c6c38c..e503e46 100644
--- a/frc971/queues/queues.gyp
+++ b/frc971/queues/queues.gyp
@@ -18,6 +18,17 @@
'includes': ['../../aos/build/queues.gypi'],
},
{
+ 'target_name': 'gyro',
+ 'type': 'static_library',
+ 'sources': [
+ 'gyro.q',
+ ],
+ 'variables': {
+ 'header_path': 'frc971/queues',
+ },
+ 'includes': ['../../aos/build/queues.gypi'],
+ },
+ {
'target_name': 'queues',
'type': 'static_library',
'sources': ['<@(queue_files)'],