Copy back a lot of the 2014 code.
Change-Id: I552292d8bd7bce4409e02d254bef06a9cc009568
diff --git a/y2014/wpilib/wpilib_interface.cc b/y2014/wpilib/wpilib_interface.cc
new file mode 100644
index 0000000..1c141a8
--- /dev/null
+++ b/y2014/wpilib/wpilib_interface.cc
@@ -0,0 +1,716 @@
+#include <stdio.h>
+#include <string.h>
+#include <unistd.h>
+#include <inttypes.h>
+
+#include <thread>
+#include <mutex>
+#include <functional>
+
+#include "aos/common/logging/logging.h"
+#include "aos/common/logging/queue_logging.h"
+#include "aos/common/time.h"
+#include "aos/common/util/log_interval.h"
+#include "aos/common/util/phased_loop.h"
+#include "aos/common/util/wrapping_counter.h"
+#include "aos/common/stl_mutex.h"
+#include "aos/linux_code/init.h"
+#include "aos/common/messages/robot_state.q.h"
+
+#include "y2014/constants.h"
+#include "frc971/control_loops/control_loops.q.h"
+#include "y2014/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/fridge/fridge.q.h"
+#include "y2014/control_loops/claw/claw.q.h"
+
+#include "frc971/wpilib/hall_effect.h"
+#include "frc971/wpilib/joystick_sender.h"
+#include "frc971/wpilib/loop_output_handler.h"
+#include "frc971/wpilib/buffered_solenoid.h"
+#include "frc971/wpilib/buffered_pcm.h"
+#include "frc971/wpilib/gyro_sender.h"
+#include "frc971/wpilib/dma_edge_counting.h"
+#include "frc971/wpilib/interrupt_edge_counting.h"
+#include "frc971/wpilib/encoder_and_potentiometer.h"
+#include "frc971/wpilib/logging.q.h"
+
+#include "Encoder.h"
+#include "Talon.h"
+#include "DriverStation.h"
+#include "AnalogInput.h"
+#include "Compressor.h"
+#include "Relay.h"
+#include "RobotBase.h"
+#include "dma.h"
+#include "ControllerPower.h"
+
+#ifndef M_PI
+#define M_PI 3.14159265358979323846
+#endif
+
+using ::aos::util::SimpleLogInterval;
+using ::frc971::control_loops::drivetrain_queue;
+using ::frc971::control_loops::fridge_queue;
+using ::frc971::control_loops::claw_queue;
+
+namespace frc971 {
+namespace wpilib {
+
+double drivetrain_translate(int32_t in) {
+ return static_cast<double>(in) /
+ (256.0 /*cpr*/ * 4.0 /*4x*/) *
+ constants::GetValues().drivetrain_encoder_ratio *
+ (4 /*wheel diameter*/ * 2.54 / 100.0 * M_PI);
+}
+
+double arm_translate(int32_t in) {
+ return -static_cast<double>(in) /
+ (512.0 /*cpr*/ * 4.0 /*4x*/) *
+ constants::GetValues().arm_encoder_ratio *
+ (2 * M_PI /*radians*/);
+}
+
+double arm_potentiometer_translate(double voltage) {
+ return voltage *
+ constants::GetValues().arm_pot_ratio *
+ (5.0 /*turns*/ / 5.0 /*volts*/) *
+ (2 * M_PI /*radians*/);
+}
+
+double elevator_translate(int32_t in) {
+ return static_cast<double>(in) /
+ (512.0 /*cpr*/ * 4.0 /*4x*/) *
+ constants::GetValues().elev_encoder_ratio *
+ (2 * M_PI /*radians*/) *
+ constants::GetValues().elev_distance_per_radian;
+}
+
+double elevator_potentiometer_translate(double voltage) {
+ return -voltage *
+ constants::GetValues().elev_pot_ratio *
+ (2 * M_PI /*radians*/) *
+ constants::GetValues().elev_distance_per_radian *
+ (5.0 /*turns*/ / 5.0 /*volts*/);
+}
+
+double claw_translate(int32_t in) {
+ return static_cast<double>(in) /
+ (512.0 /*cpr*/ * 4.0 /*4x*/) *
+ constants::GetValues().claw_encoder_ratio *
+ (2 * M_PI /*radians*/);
+}
+
+double claw_potentiometer_translate(double voltage) {
+ return -voltage *
+ constants::GetValues().claw_pot_ratio *
+ (5.0 /*turns*/ / 5.0 /*volts*/) *
+ (2 * M_PI /*radians*/);
+}
+
+static const double kMaximumEncoderPulsesPerSecond =
+ 19500.0 /* free speed RPM */ * 12.0 / 56.0 /* belt reduction */ /
+ 60.0 /* seconds / minute */ * 256.0 /* CPR */ *
+ 4.0 /* index pulse = 1/4 cycle */;
+
+class SensorReader {
+ public:
+ SensorReader() {
+ // Set it to filter out anything shorter than 1/4 of the minimum pulse width
+ // we should ever see.
+ filter_.SetPeriodNanoSeconds(
+ static_cast<int>(1 / 4.0 / kMaximumEncoderPulsesPerSecond * 1e9 + 0.5));
+ }
+
+ void set_arm_left_encoder(::std::unique_ptr<Encoder> encoder) {
+ filter_.Add(encoder.get());
+ arm_left_encoder_.set_encoder(::std::move(encoder));
+ }
+
+ void set_arm_left_index(::std::unique_ptr<DigitalSource> index) {
+ filter_.Add(index.get());
+ arm_left_encoder_.set_index(::std::move(index));
+ }
+
+ void set_arm_left_potentiometer(
+ ::std::unique_ptr<AnalogInput> potentiometer) {
+ arm_left_encoder_.set_potentiometer(::std::move(potentiometer));
+ }
+
+ void set_arm_right_encoder(::std::unique_ptr<Encoder> encoder) {
+ filter_.Add(encoder.get());
+ arm_right_encoder_.set_encoder(::std::move(encoder));
+ }
+
+ void set_arm_right_index(::std::unique_ptr<DigitalSource> index) {
+ filter_.Add(index.get());
+ arm_right_encoder_.set_index(::std::move(index));
+ }
+
+ void set_arm_right_potentiometer(
+ ::std::unique_ptr<AnalogInput> potentiometer) {
+ arm_right_encoder_.set_potentiometer(::std::move(potentiometer));
+ }
+
+ void set_elevator_left_encoder(::std::unique_ptr<Encoder> encoder) {
+ filter_.Add(encoder.get());
+ elevator_left_encoder_.set_encoder(::std::move(encoder));
+ }
+
+ void set_elevator_left_index(::std::unique_ptr<DigitalSource> index) {
+ filter_.Add(index.get());
+ elevator_left_encoder_.set_index(::std::move(index));
+ }
+
+ void set_elevator_left_potentiometer(
+ ::std::unique_ptr<AnalogInput> potentiometer) {
+ elevator_left_encoder_.set_potentiometer(::std::move(potentiometer));
+ }
+
+ void set_elevator_right_encoder(::std::unique_ptr<Encoder> encoder) {
+ filter_.Add(encoder.get());
+ elevator_right_encoder_.set_encoder(::std::move(encoder));
+ }
+
+ void set_elevator_right_index(::std::unique_ptr<DigitalSource> index) {
+ filter_.Add(index.get());
+ elevator_right_encoder_.set_index(::std::move(index));
+ }
+
+ void set_elevator_right_potentiometer(
+ ::std::unique_ptr<AnalogInput> potentiometer) {
+ elevator_right_encoder_.set_potentiometer(::std::move(potentiometer));
+ }
+
+ void set_wrist_encoder(::std::unique_ptr<Encoder> encoder) {
+ filter_.Add(encoder.get());
+ wrist_encoder_.set_encoder(::std::move(encoder));
+ }
+
+ void set_wrist_index(::std::unique_ptr<DigitalSource> index) {
+ filter_.Add(index.get());
+ wrist_encoder_.set_index(::std::move(index));
+ }
+
+ void set_wrist_potentiometer(::std::unique_ptr<AnalogInput> potentiometer) {
+ wrist_encoder_.set_potentiometer(::std::move(potentiometer));
+ }
+
+ void set_left_encoder(::std::unique_ptr<Encoder> left_encoder) {
+ left_encoder_ = ::std::move(left_encoder);
+ }
+
+ void set_right_encoder(::std::unique_ptr<Encoder> right_encoder) {
+ right_encoder_ = ::std::move(right_encoder);
+ }
+
+ // All of the DMA-related set_* calls must be made before this, and it doesn't
+ // hurt to do all of them.
+ void set_dma(::std::unique_ptr<DMA> dma) {
+ dma_synchronizer_.reset(new DMASynchronizer(::std::move(dma)));
+ dma_synchronizer_->Add(&arm_left_encoder_);
+ dma_synchronizer_->Add(&elevator_left_encoder_);
+ dma_synchronizer_->Add(&arm_right_encoder_);
+ dma_synchronizer_->Add(&elevator_right_encoder_);
+ }
+
+ void operator()() {
+ LOG(INFO, "In sensor reader thread\n");
+ ::aos::SetCurrentThreadName("SensorReader");
+
+ my_pid_ = getpid();
+ ds_ = DriverStation::GetInstance();
+
+ wrist_encoder_.Start();
+ dma_synchronizer_->Start();
+ LOG(INFO, "Things are now started\n");
+
+ ::aos::SetCurrentThreadRealtimePriority(kPriority);
+ while (run_) {
+ ::aos::time::PhasedLoopXMS(5, 4000);
+ RunIteration();
+ }
+
+ wrist_encoder_.Stop();
+ }
+
+ void RunIteration() {
+ {
+ auto new_state = ::aos::robot_state.MakeMessage();
+
+ new_state->reader_pid = my_pid_;
+ new_state->outputs_enabled = ds_->IsSysActive();
+ new_state->browned_out = ds_->IsSysBrownedOut();
+
+ new_state->is_3v3_active = ControllerPower::GetEnabled3V3();
+ new_state->is_5v_active = ControllerPower::GetEnabled5V();
+ new_state->voltage_3v3 = ControllerPower::GetVoltage3V3();
+ new_state->voltage_5v = ControllerPower::GetVoltage5V();
+
+ new_state->voltage_roborio_in = ControllerPower::GetInputVoltage();
+ new_state->voltage_battery = ds_->GetBatteryVoltage();
+
+ LOG_STRUCT(DEBUG, "robot_state", *new_state);
+
+ new_state.Send();
+ }
+
+ {
+ auto drivetrain_message = drivetrain_queue.position.MakeMessage();
+ drivetrain_message->right_encoder =
+ -drivetrain_translate(right_encoder_->GetRaw());
+ drivetrain_message->left_encoder =
+ drivetrain_translate(left_encoder_->GetRaw());
+
+ drivetrain_message.Send();
+ }
+
+ dma_synchronizer_->RunIteration();
+
+ const auto &values = constants::GetValues();
+
+ {
+ auto fridge_message = fridge_queue.position.MakeMessage();
+ CopyPotAndIndexPosition(arm_left_encoder_, &fridge_message->arm.left,
+ arm_translate, arm_potentiometer_translate, false,
+ values.fridge.left_arm_potentiometer_offset);
+ CopyPotAndIndexPosition(
+ arm_right_encoder_, &fridge_message->arm.right, arm_translate,
+ arm_potentiometer_translate, true,
+ values.fridge.right_arm_potentiometer_offset);
+ CopyPotAndIndexPosition(
+ elevator_left_encoder_, &fridge_message->elevator.left,
+ elevator_translate, elevator_potentiometer_translate, false,
+ values.fridge.left_elevator_potentiometer_offset);
+ CopyPotAndIndexPosition(
+ elevator_right_encoder_, &fridge_message->elevator.right,
+ elevator_translate, elevator_potentiometer_translate, true,
+ values.fridge.right_elevator_potentiometer_offset);
+ fridge_message.Send();
+ }
+
+ {
+ auto claw_message = claw_queue.position.MakeMessage();
+ CopyPotAndIndexPosition(wrist_encoder_, &claw_message->joint,
+ claw_translate, claw_potentiometer_translate,
+ false, values.claw.potentiometer_offset);
+ claw_message.Send();
+ }
+ }
+
+ void Quit() { run_ = false; }
+
+ private:
+ static const int kPriority = 30;
+ static const int kInterruptPriority = 55;
+
+ int32_t my_pid_;
+ DriverStation *ds_;
+
+ void CopyPotAndIndexPosition(
+ const DMAEncoderAndPotentiometer &encoder, PotAndIndexPosition *position,
+ ::std::function<double(int32_t)> encoder_translate,
+ ::std::function<double(double)> potentiometer_translate, bool reverse,
+ double potentiometer_offset) {
+ const double multiplier = reverse ? -1.0 : 1.0;
+ position->encoder =
+ multiplier * encoder_translate(encoder.polled_encoder_value());
+ position->pot = multiplier * potentiometer_translate(
+ encoder.polled_potentiometer_voltage()) +
+ potentiometer_offset;
+ position->latched_encoder =
+ multiplier * encoder_translate(encoder.last_encoder_value());
+ position->latched_pot =
+ multiplier *
+ potentiometer_translate(encoder.last_potentiometer_voltage()) +
+ potentiometer_offset;
+ position->index_pulses = encoder.index_posedge_count();
+ }
+
+ void CopyPotAndIndexPosition(
+ const InterruptEncoderAndPotentiometer &encoder,
+ PotAndIndexPosition *position,
+ ::std::function<double(int32_t)> encoder_translate,
+ ::std::function<double(double)> potentiometer_translate, bool reverse,
+ double potentiometer_offset) {
+ const double multiplier = reverse ? -1.0 : 1.0;
+ position->encoder =
+ multiplier * encoder_translate(encoder.encoder()->GetRaw());
+ position->pot = multiplier * potentiometer_translate(
+ encoder.potentiometer()->GetVoltage()) +
+ potentiometer_offset;
+ position->latched_encoder =
+ multiplier * encoder_translate(encoder.last_encoder_value());
+ position->latched_pot =
+ multiplier *
+ potentiometer_translate(encoder.last_potentiometer_voltage()) +
+ potentiometer_offset;
+ position->index_pulses = encoder.index_posedge_count();
+ }
+
+ ::std::unique_ptr<DMASynchronizer> dma_synchronizer_;
+
+ DMAEncoderAndPotentiometer arm_left_encoder_, arm_right_encoder_,
+ elevator_left_encoder_, elevator_right_encoder_;
+
+ InterruptEncoderAndPotentiometer wrist_encoder_{kInterruptPriority};
+
+ ::std::unique_ptr<Encoder> left_encoder_;
+ ::std::unique_ptr<Encoder> right_encoder_;
+
+ ::std::atomic<bool> run_{true};
+ DigitalGlitchFilter filter_;
+};
+
+class SolenoidWriter {
+ public:
+ SolenoidWriter(const ::std::unique_ptr<BufferedPcm> &pcm)
+ : pcm_(pcm),
+ fridge_(".frc971.control_loops.fridge_queue.output"),
+ claw_(".frc971.control_loops.claw_queue.output") {}
+
+ void set_pressure_switch(::std::unique_ptr<DigitalSource> pressure_switch) {
+ pressure_switch_ = ::std::move(pressure_switch);
+ }
+
+ void set_compressor_relay(::std::unique_ptr<Relay> compressor_relay) {
+ compressor_relay_ = ::std::move(compressor_relay);
+ }
+
+ void set_fridge_grabbers_top_front(::std::unique_ptr<BufferedSolenoid> s) {
+ fridge_grabbers_top_front_ = ::std::move(s);
+ }
+
+ void set_fridge_grabbers_top_back(::std::unique_ptr<BufferedSolenoid> s) {
+ fridge_grabbers_top_back_ = ::std::move(s);
+ }
+
+ void set_fridge_grabbers_bottom_front(
+ ::std::unique_ptr<BufferedSolenoid> s) {
+ fridge_grabbers_bottom_front_ = ::std::move(s);
+ }
+
+ void set_fridge_grabbers_bottom_back(
+ ::std::unique_ptr<BufferedSolenoid> s) {
+ fridge_grabbers_bottom_back_ = ::std::move(s);
+ }
+
+ void set_claw_pinchers(::std::unique_ptr<BufferedSolenoid> s) {
+ claw_pinchers_ = ::std::move(s);
+ }
+
+ void set_grabber_latch_release(::std::unique_ptr<BufferedSolenoid> s) {
+ grabber_latch_release_ = ::std::move(s);
+ }
+
+ void set_grabber_fold_up(::std::unique_ptr<BufferedSolenoid> s) {
+ grabber_fold_up_ = ::std::move(s);
+ }
+
+ void operator()() {
+ ::aos::SetCurrentThreadName("Solenoids");
+ ::aos::SetCurrentThreadRealtimePriority(30);
+
+ while (run_) {
+ ::aos::time::PhasedLoopXMS(20, 1000);
+
+ {
+ fridge_.FetchLatest();
+ if (fridge_.get()) {
+ LOG_STRUCT(DEBUG, "solenoids", *fridge_);
+ fridge_grabbers_top_front_->Set(!fridge_->grabbers.top_front);
+ fridge_grabbers_top_back_->Set(!fridge_->grabbers.top_back);
+ fridge_grabbers_bottom_front_->Set(!fridge_->grabbers.bottom_front);
+ fridge_grabbers_bottom_back_->Set(!fridge_->grabbers.bottom_back);
+ }
+ }
+
+ {
+ claw_.FetchLatest();
+ if (claw_.get()) {
+ LOG_STRUCT(DEBUG, "solenoids", *claw_);
+ claw_pinchers_->Set(claw_->rollers_closed);
+ }
+ }
+
+ ::aos::joystick_state.FetchLatest();
+ grabber_latch_release_->Set(::aos::joystick_state.get() != nullptr &&
+ ::aos::joystick_state->autonomous);
+ grabber_fold_up_->Set(::aos::joystick_state.get() != nullptr &&
+ ::aos::joystick_state->joysticks[1].buttons & 1);
+
+ {
+ PneumaticsToLog to_log;
+ {
+ const bool compressor_on = !pressure_switch_->Get();
+ to_log.compressor_on = compressor_on;
+ if (compressor_on) {
+ compressor_relay_->Set(Relay::kForward);
+ } else {
+ compressor_relay_->Set(Relay::kOff);
+ }
+ }
+
+ pcm_->Flush();
+ to_log.read_solenoids = pcm_->GetAll();
+ LOG_STRUCT(DEBUG, "pneumatics info", to_log);
+ }
+ }
+ }
+
+ void Quit() { run_ = false; }
+
+ private:
+ const ::std::unique_ptr<BufferedPcm> &pcm_;
+ ::std::unique_ptr<BufferedSolenoid> fridge_grabbers_top_front_;
+ ::std::unique_ptr<BufferedSolenoid> fridge_grabbers_top_back_;
+ ::std::unique_ptr<BufferedSolenoid> fridge_grabbers_bottom_front_;
+ ::std::unique_ptr<BufferedSolenoid> fridge_grabbers_bottom_back_;
+ ::std::unique_ptr<BufferedSolenoid> claw_pinchers_;
+ ::std::unique_ptr<BufferedSolenoid> grabber_latch_release_;
+ ::std::unique_ptr<BufferedSolenoid> grabber_fold_up_;
+ ::std::unique_ptr<DigitalSource> pressure_switch_;
+ ::std::unique_ptr<Relay> compressor_relay_;
+
+ ::aos::Queue<::frc971::control_loops::FridgeQueue::Output> fridge_;
+ ::aos::Queue<::frc971::control_loops::ClawQueue::Output> claw_;
+
+ ::std::atomic<bool> run_{true};
+};
+
+class DrivetrainWriter : public LoopOutputHandler {
+ public:
+ void set_left_drivetrain_talon(::std::unique_ptr<Talon> t) {
+ left_drivetrain_talon_ = ::std::move(t);
+ }
+
+ void set_right_drivetrain_talon(::std::unique_ptr<Talon> t) {
+ right_drivetrain_talon_ = ::std::move(t);
+ }
+
+ private:
+ virtual void Read() override {
+ ::frc971::control_loops::drivetrain_queue.output.FetchAnother();
+ }
+
+ virtual void Write() override {
+ auto &queue = ::frc971::control_loops::drivetrain_queue.output;
+ LOG_STRUCT(DEBUG, "will output", *queue);
+ left_drivetrain_talon_->Set(queue->left_voltage / 12.0);
+ right_drivetrain_talon_->Set(-queue->right_voltage / 12.0);
+ }
+
+ virtual void Stop() override {
+ LOG(WARNING, "drivetrain output too old\n");
+ left_drivetrain_talon_->Disable();
+ right_drivetrain_talon_->Disable();
+ }
+
+ ::std::unique_ptr<Talon> left_drivetrain_talon_;
+ ::std::unique_ptr<Talon> right_drivetrain_talon_;
+};
+
+class FridgeWriter : public LoopOutputHandler {
+ public:
+ void set_left_arm_talon(::std::unique_ptr<Talon> t) {
+ left_arm_talon_ = ::std::move(t);
+ }
+
+ void set_right_arm_talon(::std::unique_ptr<Talon> t) {
+ right_arm_talon_ = ::std::move(t);
+ }
+
+ void set_left_elevator_talon(::std::unique_ptr<Talon> t) {
+ left_elevator_talon_ = ::std::move(t);
+ }
+
+ void set_right_elevator_talon(::std::unique_ptr<Talon> t) {
+ right_elevator_talon_ = ::std::move(t);
+ }
+
+ private:
+ virtual void Read() override {
+ ::frc971::control_loops::fridge_queue.output.FetchAnother();
+ }
+
+ virtual void Write() override {
+ auto &queue = ::frc971::control_loops::fridge_queue.output;
+ LOG_STRUCT(DEBUG, "will output", *queue);
+ left_arm_talon_->Set(queue->left_arm / 12.0);
+ right_arm_talon_->Set(-queue->right_arm / 12.0);
+ left_elevator_talon_->Set(queue->left_elevator / 12.0);
+ right_elevator_talon_->Set(-queue->right_elevator / 12.0);
+ }
+
+ virtual void Stop() override {
+ LOG(WARNING, "Fridge output too old.\n");
+ left_arm_talon_->Disable();
+ right_arm_talon_->Disable();
+ left_elevator_talon_->Disable();
+ right_elevator_talon_->Disable();
+ }
+
+ ::std::unique_ptr<Talon> left_arm_talon_;
+ ::std::unique_ptr<Talon> right_arm_talon_;
+ ::std::unique_ptr<Talon> left_elevator_talon_;
+ ::std::unique_ptr<Talon> right_elevator_talon_;
+};
+
+class ClawWriter : public LoopOutputHandler {
+ public:
+ void set_left_intake_talon(::std::unique_ptr<Talon> t) {
+ left_intake_talon_ = ::std::move(t);
+ }
+
+ void set_right_intake_talon(::std::unique_ptr<Talon> t) {
+ right_intake_talon_ = ::std::move(t);
+ }
+
+ void set_wrist_talon(::std::unique_ptr<Talon> t) {
+ wrist_talon_ = ::std::move(t);
+ }
+
+ private:
+ virtual void Read() override {
+ ::frc971::control_loops::claw_queue.output.FetchAnother();
+ }
+
+ virtual void Write() override {
+ auto &queue = ::frc971::control_loops::claw_queue.output;
+ LOG_STRUCT(DEBUG, "will output", *queue);
+ left_intake_talon_->Set(queue->intake_voltage / 12.0);
+ right_intake_talon_->Set(-queue->intake_voltage / 12.0);
+ wrist_talon_->Set(-queue->voltage / 12.0);
+ }
+
+ virtual void Stop() override {
+ LOG(WARNING, "Claw output too old.\n");
+ left_intake_talon_->Disable();
+ right_intake_talon_->Disable();
+ wrist_talon_->Disable();
+ }
+
+ ::std::unique_ptr<Talon> left_intake_talon_;
+ ::std::unique_ptr<Talon> right_intake_talon_;
+ ::std::unique_ptr<Talon> wrist_talon_;
+};
+
+// TODO(brian): Replace this with ::std::make_unique once all our toolchains
+// have support.
+template <class T, class... U>
+std::unique_ptr<T> make_unique(U &&... u) {
+ return std::unique_ptr<T>(new T(std::forward<U>(u)...));
+}
+
+class WPILibRobot : public RobotBase {
+ public:
+ ::std::unique_ptr<Encoder> encoder(int index) {
+ return make_unique<Encoder>(10 + index * 2, 11 + index * 2, false,
+ Encoder::k4X);
+ }
+ virtual void StartCompetition() {
+ ::aos::InitNRT();
+ ::aos::SetCurrentThreadName("StartCompetition");
+
+ JoystickSender joystick_sender;
+ ::std::thread joystick_thread(::std::ref(joystick_sender));
+ // TODO(austin): Compressor needs to use a spike.
+
+ SensorReader reader;
+ LOG(INFO, "Creating the reader\n");
+ reader.set_arm_left_encoder(encoder(1));
+ reader.set_arm_left_index(make_unique<DigitalInput>(1));
+ reader.set_arm_left_potentiometer(make_unique<AnalogInput>(1));
+
+ reader.set_arm_right_encoder(encoder(5));
+ reader.set_arm_right_index(make_unique<DigitalInput>(5));
+ reader.set_arm_right_potentiometer(make_unique<AnalogInput>(5));
+
+ reader.set_elevator_left_encoder(encoder(0));
+ reader.set_elevator_left_index(make_unique<DigitalInput>(0));
+ reader.set_elevator_left_potentiometer(make_unique<AnalogInput>(0));
+
+ reader.set_elevator_right_encoder(encoder(4));
+ reader.set_elevator_right_index(make_unique<DigitalInput>(4));
+ reader.set_elevator_right_potentiometer(make_unique<AnalogInput>(4));
+
+ reader.set_wrist_encoder(encoder(6));
+ reader.set_wrist_index(make_unique<DigitalInput>(6));
+ reader.set_wrist_potentiometer(make_unique<AnalogInput>(6));
+
+ reader.set_left_encoder(encoder(2));
+ reader.set_right_encoder(encoder(3));
+ reader.set_dma(make_unique<DMA>());
+ ::std::thread reader_thread(::std::ref(reader));
+ GyroSender gyro_sender;
+ ::std::thread gyro_thread(::std::ref(gyro_sender));
+
+ DrivetrainWriter drivetrain_writer;
+ drivetrain_writer.set_left_drivetrain_talon(
+ ::std::unique_ptr<Talon>(new Talon(8)));
+ drivetrain_writer.set_right_drivetrain_talon(
+ ::std::unique_ptr<Talon>(new Talon(0)));
+ ::std::thread drivetrain_writer_thread(::std::ref(drivetrain_writer));
+
+ // TODO(sensors): Get real PWM output and relay numbers for the fridge and
+ // claw.
+ FridgeWriter fridge_writer;
+ fridge_writer.set_left_arm_talon(
+ ::std::unique_ptr<Talon>(new Talon(6)));
+ fridge_writer.set_right_arm_talon(
+ ::std::unique_ptr<Talon>(new Talon(2)));
+ fridge_writer.set_left_elevator_talon(
+ ::std::unique_ptr<Talon>(new Talon(7)));
+ fridge_writer.set_right_elevator_talon(
+ ::std::unique_ptr<Talon>(new Talon(1)));
+ ::std::thread fridge_writer_thread(::std::ref(fridge_writer));
+
+ ClawWriter claw_writer;
+ claw_writer.set_left_intake_talon(
+ ::std::unique_ptr<Talon>(new Talon(5)));
+ claw_writer.set_right_intake_talon(
+ ::std::unique_ptr<Talon>(new Talon(3)));
+ claw_writer.set_wrist_talon(
+ ::std::unique_ptr<Talon>(new Talon(4)));
+ ::std::thread claw_writer_thread(::std::ref(claw_writer));
+
+ ::std::unique_ptr<::frc971::wpilib::BufferedPcm> pcm(
+ new ::frc971::wpilib::BufferedPcm());
+ SolenoidWriter solenoid_writer(pcm);
+ solenoid_writer.set_fridge_grabbers_top_front(pcm->MakeSolenoid(0));
+ solenoid_writer.set_fridge_grabbers_top_back(pcm->MakeSolenoid(0));
+ solenoid_writer.set_fridge_grabbers_bottom_front(pcm->MakeSolenoid(2));
+ solenoid_writer.set_fridge_grabbers_bottom_back(pcm->MakeSolenoid(1));
+ solenoid_writer.set_claw_pinchers(pcm->MakeSolenoid(4));
+ solenoid_writer.set_grabber_latch_release(pcm->MakeSolenoid(7));
+ solenoid_writer.set_grabber_fold_up(pcm->MakeSolenoid(5));
+
+ solenoid_writer.set_pressure_switch(make_unique<DigitalInput>(9));
+ solenoid_writer.set_compressor_relay(make_unique<Relay>(0));
+ ::std::thread solenoid_thread(::std::ref(solenoid_writer));
+
+ // Wait forever. Not much else to do...
+ PCHECK(select(0, nullptr, nullptr, nullptr, nullptr));
+
+ LOG(ERROR, "Exiting WPILibRobot\n");
+
+ joystick_sender.Quit();
+ joystick_thread.join();
+ reader.Quit();
+ reader_thread.join();
+ gyro_sender.Quit();
+ gyro_thread.join();
+
+ drivetrain_writer.Quit();
+ drivetrain_writer_thread.join();
+ solenoid_writer.Quit();
+ solenoid_thread.join();
+
+ ::aos::Cleanup();
+ }
+};
+
+} // namespace wpilib
+} // namespace frc971
+
+
+START_ROBOT_CLASS(::frc971::wpilib::WPILibRobot);