Add y2023_bot3 folder
Signed-off-by: James (Peilun) Li <jamespeilunli@gmail.com>
Change-Id: I6fae2492d0497596a632efc79a6a258c0ca15f49
diff --git a/y2023_bot3/rockpi/BUILD b/y2023_bot3/rockpi/BUILD
new file mode 100644
index 0000000..f3a9d94
--- /dev/null
+++ b/y2023_bot3/rockpi/BUILD
@@ -0,0 +1,12 @@
+cc_binary(
+ name = "imu_main",
+ srcs = ["imu_main.cc"],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//aos:init",
+ "//aos/events:shm_event_loop",
+ "//frc971/imu_reader:imu",
+ "//y2023_bot3:constants",
+ ],
+)
diff --git a/y2023_bot3/rockpi/imu_main.cc b/y2023_bot3/rockpi/imu_main.cc
new file mode 100644
index 0000000..cd443f2
--- /dev/null
+++ b/y2023_bot3/rockpi/imu_main.cc
@@ -0,0 +1,25 @@
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "aos/realtime.h"
+#include "frc971/imu_reader/imu.h"
+#include "y2023_bot3/constants.h"
+
+DEFINE_string(config, "aos_config.json", "Path to the config file to use.");
+
+int main(int argc, char *argv[]) {
+ aos::InitGoogle(&argc, &argv);
+
+ aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig(FLAGS_config);
+
+ aos::ShmEventLoop event_loop(&config.message());
+ frc971::imu::Imu imu(
+ &event_loop, y2023_bot3::constants::Values::DrivetrainEncoderToMeters(1));
+
+ event_loop.SetRuntimeAffinity(aos::MakeCpusetFromCpus({0}));
+ event_loop.SetRuntimeRealtimePriority(55);
+
+ event_loop.Run();
+
+ return 0;
+}