Add PWM bounds for victor.
- Rename AtomMotorWriter.cc to be styleguide compliant.
- Make initial modifications to this file for third robot.
- Copy entire output directory from frc971 to bot3.
- Get rid of aos_module.ko.
diff --git a/bot3/atom_code/atom_code.gyp b/bot3/atom_code/atom_code.gyp
index 23f4e1f..6dbcc77 100644
--- a/bot3/atom_code/atom_code.gyp
+++ b/bot3/atom_code/atom_code.gyp
@@ -13,8 +13,8 @@
'<(DEPTH)/bot3/input/input.gyp:joystick_reader',
'<(DEPTH)/bot3/input/input.gyp:gyro_reader',
#'../input/input.gyp:AutoMode',
- '<(DEPTH)/frc971/output/output.gyp:MotorWriter',
- '<(DEPTH)/frc971/output/output.gyp:CameraServer',
+ '<(DEPTH)/bot3/output/output.gyp:MotorWriter',
+ '<(DEPTH)/bot3/output/output.gyp:CameraServer',
#'camera/camera.gyp:frc971',
'<(DEPTH)/gyro_board/src/libusb-driver/libusb-driver.gyp:get',
'<(DEPTH)/bot3/input/input.gyp:gyro_board_reader',
@@ -24,7 +24,6 @@
{
'destination': '<(rsync_dir)',
'files': [
- 'scripts/aos_module.ko',
'scripts/start_list.txt',
],
},
diff --git a/bot3/atom_code/scripts/aos_module.ko b/bot3/atom_code/scripts/aos_module.ko
deleted file mode 100644
index cdaddb7..0000000
--- a/bot3/atom_code/scripts/aos_module.ko
+++ /dev/null
Binary files differ
diff --git a/bot3/output/CameraServer.cc b/bot3/output/CameraServer.cc
new file mode 100644
index 0000000..939731d
--- /dev/null
+++ b/bot3/output/CameraServer.cc
@@ -0,0 +1,93 @@
+#include <string.h>
+
+#include "aos/atom_code/output/HTTPServer.h"
+#include "aos/atom_code/output/evhttp_ctemplate_emitter.h"
+#include "aos/atom_code/output/ctemplate_cache.h"
+#include "aos/common/messages/RobotState.q.h"
+#include "ctemplate/template.h"
+#include "aos/atom_code/init.h"
+#include "aos/common/logging/logging.h"
+#include "aos/atom_code/configuration.h"
+
+#include "frc971/constants.h"
+
+RegisterTemplateFilename(ROBOT_HTML, "robot.html.tpl");
+
+namespace frc971 {
+
+class CameraServer : public aos::http::HTTPServer {
+ public:
+ CameraServer() : HTTPServer(::aos::configuration::GetRootDirectory(), 8080),
+ buf_(NULL) {
+ AddPage<CameraServer>("/robot.html", &CameraServer::RobotHTML, this);
+ }
+
+ private:
+ evbuffer *buf_;
+ bool Setup(evhttp_request *request, const char *content_type) {
+ if (evhttp_add_header(evhttp_request_get_output_headers(request),
+ "Content-Type", content_type) == -1) {
+ LOG(WARNING, "adding Content-Type failed\n");
+ evhttp_send_error(request, HTTP_INTERNAL, NULL);
+ return false;
+ }
+ if (buf_ == NULL) buf_ = evbuffer_new();
+ if (buf_ == NULL) {
+ LOG(WARNING, "evbuffer_new() failed\n");
+ evhttp_send_error(request, HTTP_INTERNAL, NULL);
+ return false;
+ }
+ return true;
+ }
+ void RobotHTML(evhttp_request *request) {
+ if (!Setup(request, "text/html")) return;
+
+ ctemplate::TemplateDictionary dict(ROBOT_HTML);
+ const char *host = evhttp_find_header(
+ evhttp_request_get_input_headers(request), "Host");
+ if (host == NULL) {
+ evhttp_send_error(request, HTTP_BADREQUEST, "no Host header");
+ return;
+ }
+ const char *separator = strchrnul(host, ':');
+ size_t length = separator - host;
+ // Don't include the last ':' (or the terminating '\0') or anything else
+ // after it.
+ dict.SetValue("HOST", ctemplate::TemplateString(host, length));
+
+ if (!aos::robot_state.FetchLatest()) {
+ LOG(WARNING, "getting a RobotState message failed\n");
+ evhttp_send_error(request, HTTP_INTERNAL, NULL);
+ return;
+ }
+ int center;
+ if (!constants::camera_center(¢er)) {
+ evhttp_send_error(request, HTTP_INTERNAL, NULL);
+ return;
+ }
+ dict.SetIntValue("CENTER", center);
+
+ aos::http::EvhttpCtemplateEmitter emitter(buf_);
+ if (!aos::http::get_template_cache()->
+ ExpandWithData(ROBOT_HTML, ctemplate::STRIP_WHITESPACE,
+ &dict, NULL, &emitter)) {
+ LOG(ERROR, "expanding the template failed\n");
+ evhttp_send_error(request, HTTP_INTERNAL, NULL);
+ return;
+ }
+ if (emitter.error()) {
+ evhttp_send_error(request, HTTP_INTERNAL, NULL);
+ return;
+ }
+ evhttp_send_reply(request, HTTP_OK, NULL, buf_);
+ }
+};
+
+} // namespace frc971
+
+int main() {
+ ::aos::InitNRT();
+ ::frc971::CameraServer server;
+ server.Run();
+ ::aos::Cleanup();
+}
diff --git a/bot3/output/atom_motor_writer.cc b/bot3/output/atom_motor_writer.cc
new file mode 100644
index 0000000..c2aeeb2
--- /dev/null
+++ b/bot3/output/atom_motor_writer.cc
@@ -0,0 +1,78 @@
+#include <stdio.h>
+#include <string.h>
+#include <unistd.h>
+
+#include "aos/atom_code/output/motor_output.h"
+#include "aos/common/logging/logging.h"
+#include "aos/atom_code/init.h"
+
+#include "frc971/queues/Piston.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/shooter/shooter_motor.q.h"
+
+using ::frc971::control_loops::drivetrain;
+using ::frc971::control_loops::shifters;
+using ::frc971::control_loops::shooter;
+using ::frc971::control_loops::hangers;
+
+namespace bot3 {
+namespace output {
+
+class MotorWriter : public ::aos::MotorOutput {
+ // Maximum age of an output packet before the motors get zeroed instead.
+ static const int kOutputMaxAgeMS = 20;
+ static const int kEnableDrivetrain = true;
+
+ virtual void RunIteration() {
+ values_.digital_module = 0;
+ values_.pressure_switch_channel = 14;
+ values_.compressor_channel = 1;
+ values_.solenoid_module = 0;
+
+ drivetrain.output.FetchLatest();
+ if (drivetrain.output.IsNewerThanMS(kOutputMaxAgeMS) && kEnableDrivetrain) {
+ SetPWMOutput(2, drivetrain.output->right_voltage / 12.0, kTalonBounds);
+ SetPWMOutput(3, drivetrain.output->right_voltage / 12.0, kTalonBounds);
+ SetPWMOutput(5, -drivetrain.output->left_voltage / 12.0, kTalonBounds);
+ SetPWMOutput(6, -drivetrain.output->left_voltage / 12.0, kTalonBounds);
+ } else {
+ DisablePWMOutput(2);
+ DisablePWMOutput(3);
+ DisablePWMOutput(5);
+ DisablePWMOutput(6);
+ if (kEnableDrivetrain) {
+ LOG(WARNING, "drivetrain not new enough\n");
+ }
+ }
+ shifters.FetchLatest();
+ if (shifters.get()) {
+ SetSolenoid(1, shifters->set);
+ SetSolenoid(2, !shifters->set);
+ }
+
+ shooter.output.FetchLatest();
+ if (shooter.output.IsNewerThanMS(kOutputMaxAgeMS)) {
+ SetPWMOutput(4, shooter.output->voltage / 12.0, kVictorBounds);
+ } else {
+ DisablePWMOutput(4);
+ LOG(WARNING, "shooter not new enough\n");
+ }
+ // TODO(danielp): Add stuff for intake.
+
+ hangers.FetchLatest();
+ if (hangers.get()) {
+ SetSolenoid(4, hangers->set);
+ SetSolenoid(5, hangers->set);
+ }
+ }
+};
+
+} // namespace output
+} // namespace bot3
+
+int main() {
+ ::aos::Init();
+ ::bot3::output::MotorWriter writer;
+ writer.Run();
+ ::aos::Cleanup();
+}
diff --git a/bot3/output/output.gyp b/bot3/output/output.gyp
new file mode 100644
index 0000000..139997b
--- /dev/null
+++ b/bot3/output/output.gyp
@@ -0,0 +1,46 @@
+{
+ 'targets': [
+ {
+ 'target_name': 'CameraServer',
+ 'type': 'executable',
+ 'sources': [
+ 'CameraServer.cc',
+ ],
+ 'dependencies': [
+ '<(AOS)/atom_code/output/output.gyp:http_server',
+ '<(DEPTH)/frc971/frc971.gyp:common',
+ '<(AOS)/atom_code/atom_code.gyp:init',
+ '<(AOS)/build/aos.gyp:logging',
+ '<(AOS)/common/messages/messages.gyp:aos_queues',
+ '<(AOS)/atom_code/atom_code.gyp:configuration',
+ ],
+ 'copies': [
+ {
+ 'destination': '<(rsync_dir)',
+ 'files': [
+ 'robot.html.tpl',
+ ],
+ },
+ ],
+ },
+ {
+ 'target_name': 'MotorWriter',
+ 'type': '<(aos_target)',
+ 'sources': [
+ 'atom_motor_writer.cc'
+ ],
+ 'dependencies': [
+ '<(AOS)/atom_code/output/output.gyp:motor_output',
+ '<(AOS)/atom_code/atom_code.gyp:init',
+ '<(AOS)/build/aos.gyp:logging',
+ '<(DEPTH)/frc971/control_loops/angle_adjust/angle_adjust.gyp:angle_adjust_loop',
+ '<(DEPTH)/frc971/control_loops/wrist/wrist.gyp:wrist_loop',
+ '<(DEPTH)/frc971/control_loops/index/index.gyp:index_loop',
+ '<(DEPTH)/frc971/control_loops/shooter/shooter.gyp:shooter_loop',
+ '<(DEPTH)/frc971/control_loops/drivetrain/drivetrain.gyp:drivetrain_loop',
+ '<(AOS)/common/common.gyp:controls',
+ '<(DEPTH)/frc971/queues/queues.gyp:queues',
+ ],
+ },
+ ],
+}
diff --git a/bot3/output/robot.html.tpl b/bot3/output/robot.html.tpl
new file mode 100644
index 0000000..7ae51a6
--- /dev/null
+++ b/bot3/output/robot.html.tpl
@@ -0,0 +1,56 @@
+<!DOCTYPE HTML>
+<html>
+ <head>
+ <title>971 Camera Code: Robot Stream</title>
+ <style type="text/css">
+ #body {
+ display: block;
+ margin: 0px;
+ margin-top: 0px;
+ margin-right: 0px;
+ margin-bottom: 0px;
+ margin-left: 0px;
+ }
+ #img {
+ position: absolute;
+ left: 50%;
+ top: 0%;
+ margin: 0 0 0 -320px;
+ }
+ #center {
+ left: 50%;
+ position: absolute;
+ width: 2px;
+ height: 100%;
+ background-color: red;
+ }
+ #middle {
+ top: 240px;
+ margin-top: -1px;
+ width: 100%;
+ position: absolute;
+ height: 2px;
+ background-color: red;
+ }
+ #footer {
+ top: 482px;
+ left: 10px;
+ position: absolute;
+ }
+ #center {
+ margin-left: {{CENTER}}px;
+ }
+ </style>
+ </head>
+ <body id="body">
+ <img id="img" src="http://{{HOST}}:9714" />
+ <div id="center"></div>
+ <div id="middle"></div>
+ <div id="footer">
+ <!--<form>
+ <input type="button" value="Camera Controls"
+ onclick="window.open('control.htm', 'Camera_Controls')">
+ </form>-->
+ </div>
+ </body>
+</html>