Merge "Add elision support to wpilib's mutex."
diff --git a/frc971/control_loops/state_feedback_loop.h b/frc971/control_loops/state_feedback_loop.h
index 6ebd32e..d1b24a5 100644
--- a/frc971/control_loops/state_feedback_loop.h
+++ b/frc971/control_loops/state_feedback_loop.h
@@ -385,11 +385,11 @@
CapU();
}
- UpdateObserver();
+ UpdateObserver(U_);
}
- void UpdateObserver() {
- X_hat_ = A() * X_hat() + B() * U();
+ void UpdateObserver(const Eigen::Matrix<double, number_of_inputs, 1> &new_u) {
+ X_hat_ = A() * X_hat() + B() * new_u;
}
// Sets the current controller to be index, clamped to be within range.
diff --git a/tools/build_rules/fortran.bzl b/tools/build_rules/fortran.bzl
index 9f564d3..0162244 100644
--- a/tools/build_rules/fortran.bzl
+++ b/tools/build_rules/fortran.bzl
@@ -1,7 +1,9 @@
def _single_fortran_object_impl(ctx):
toolchain_cflags = (ctx.fragments.cpp.compiler_options([]) +
ctx.fragments.cpp.c_options +
- ctx.fragments.cpp.unfiltered_compiler_options([]) + ['-fPIC'])
+ ctx.fragments.cpp.unfiltered_compiler_options([]) +
+ ['-fPIC', '-Wno-maybe-uninitialized', '-Wno-unused-dummy-argument',
+ '-Wno-conversion', '-Wno-unused-variable'])
cmd = toolchain_cflags + ['-c', ctx.file.src.path, '-o', ctx.outputs.pic_o.path]
filtered_cmd = []
@@ -14,6 +16,7 @@
'-Wsign-compare',
'-Wformat=2',
'-Werror',
+ '-Wextra',
'-Wno-builtin-macro-redefined',
'-D__has_feature(x)=0']
diff --git a/y2014/BUILD b/y2014/BUILD
index 0d2b618..b0094f8 100644
--- a/y2014/BUILD
+++ b/y2014/BUILD
@@ -1,5 +1,7 @@
package(default_visibility = ['//visibility:public'])
+load('/aos/prime/downloader/downloader', 'aos_downloader')
+
cc_library(
name = 'constants',
srcs = [
@@ -24,6 +26,7 @@
'joystick_reader.cc',
],
deps = [
+ ':constants',
'//aos/prime/input:joystick_input',
'//aos/linux_code:init',
'//aos/common/logging',
@@ -31,7 +34,6 @@
'//aos/common/util:log_interval',
'//aos/common/actions:action_lib',
'//y2014/control_loops/drivetrain:drivetrain_queue',
- '//y2014:constants',
'//frc971/queues:gyro',
'//frc971/autonomous:auto_queue',
'//y2014/control_loops/claw:claw_queue',
@@ -39,3 +41,35 @@
'//y2014/actors:shoot_action_lib',
],
)
+
+aos_downloader(
+ name = 'download',
+ start_srcs = [
+ ':hot_goal_reader',
+ ':joystick_reader',
+ '//y2014/control_loops/drivetrain:drivetrain',
+ '//y2014/control_loops/claw:claw',
+ '//y2014/control_loops/shooter:shooter',
+ '//y2014/autonomous:auto',
+ '//y2014/wpilib:wpilib_interface',
+ '//y2014/actors:binaries',
+ '//aos:prime_start_binaries',
+ ],
+ srcs = [
+ '//aos:prime_binaries',
+ ],
+)
+
+cc_binary(
+ name = 'hot_goal_reader',
+ srcs = [
+ 'hot_goal_reader.cc',
+ ],
+ deps = [
+ '//aos/common:time',
+ '//aos/common/logging',
+ '//aos/common/logging:queue_logging',
+ '//aos/linux_code:init',
+ '//y2014/queues:hot_goal',
+ ],
+)
diff --git a/y2014/actors/actors.gyp b/y2014/actors/actors.gyp
deleted file mode 100644
index 48a03d0..0000000
--- a/y2014/actors/actors.gyp
+++ /dev/null
@@ -1,110 +0,0 @@
-{
- 'targets': [
- {
- 'target_name': 'binaries',
- 'type': 'none',
- 'dependencies': [
- 'drivetrain_action',
- 'shoot_action',
- ],
- },
- {
- 'target_name': 'shoot_action_queue',
- 'type': 'static_library',
- 'sources': ['shoot_action.q'],
- 'variables': {
- 'header_path': 'y2014/actors',
- },
- 'dependencies': [
- '<(AOS)/common/actions/actions.gyp:action_queue',
- ],
- 'export_dependent_settings': [
- '<(AOS)/common/actions/actions.gyp:action_queue',
- ],
- 'includes': ['../../aos/build/queues.gypi'],
- },
- {
- 'target_name': 'shoot_action_lib',
- 'type': 'static_library',
- 'sources': [
- 'shoot_actor.cc',
- ],
- 'dependencies': [
- 'shoot_action_queue',
- '<(AOS)/common/actions/actions.gyp:action_lib',
- '<(DEPTH)/y2014/queues/queues.gyp:profile_params',
- '<(AOS)/build/aos.gyp:logging',
- '<(DEPTH)/y2014/control_loops/shooter/shooter.gyp:shooter_queue',
- '<(DEPTH)/y2014/control_loops/claw/claw.gyp:claw_queue',
- '<(DEPTH)/y2014/control_loops/drivetrain/drivetrain.gyp:drivetrain_queue',
- '<(DEPTH)/y2014/y2014.gyp:constants',
- ],
- 'export_dependent_settings': [
- 'shoot_action_queue',
- '<(AOS)/common/actions/actions.gyp:action_lib',
- ],
- },
- {
- 'target_name': 'shoot_action',
- 'type': 'executable',
- 'sources': [
- 'shoot_actor_main.cc',
- ],
- 'dependencies': [
- '<(AOS)/linux_code/linux_code.gyp:init',
- 'shoot_action_lib',
- 'shoot_action_queue',
- ],
- },
- {
- 'target_name': 'drivetrain_action_queue',
- 'type': 'static_library',
- 'sources': ['drivetrain_action.q'],
- 'variables': {
- 'header_path': 'y2014/actors',
- },
- 'dependencies': [
- '<(AOS)/common/actions/actions.gyp:action_queue',
- ],
- 'export_dependent_settings': [
- '<(AOS)/common/actions/actions.gyp:action_queue',
- ],
- 'includes': ['../../aos/build/queues.gypi'],
- },
- {
- 'target_name': 'drivetrain_action_lib',
- 'type': 'static_library',
- 'sources': [
- 'drivetrain_actor.cc',
- ],
- 'dependencies': [
- 'drivetrain_action_queue',
- '<(DEPTH)/y2014/y2014.gyp:constants',
- '<(AOS)/common/common.gyp:time',
- '<(AOS)/common/util/util.gyp:phased_loop',
- '<(AOS)/build/aos.gyp:logging',
- '<(AOS)/common/actions/actions.gyp:action_lib',
- '<(AOS)/common/logging/logging.gyp:queue_logging',
- '<(EXTERNALS):eigen',
- '<(AOS)/common/util/util.gyp:trapezoid_profile',
- '<(DEPTH)/y2014/control_loops/drivetrain/drivetrain.gyp:drivetrain_queue',
- ],
- 'export_dependent_settings': [
- '<(AOS)/common/actions/actions.gyp:action_lib',
- 'drivetrain_action_queue',
- ],
- },
- {
- 'target_name': 'drivetrain_action',
- 'type': 'executable',
- 'sources': [
- 'drivetrain_actor_main.cc',
- ],
- 'dependencies': [
- '<(AOS)/linux_code/linux_code.gyp:init',
- 'drivetrain_action_lib',
- 'drivetrain_action_queue',
- ],
- },
- ],
-}
diff --git a/y2014/autonomous/autonomous.gyp b/y2014/autonomous/autonomous.gyp
deleted file mode 100644
index 8efdaec..0000000
--- a/y2014/autonomous/autonomous.gyp
+++ /dev/null
@@ -1,45 +0,0 @@
-{
- 'targets': [
- {
- 'target_name': 'auto_lib',
- 'type': 'static_library',
- 'sources': [
- 'auto.cc',
- ],
- 'dependencies': [
- '<(DEPTH)/frc971/autonomous/autonomous.gyp:auto_queue',
- '<(AOS)/common/controls/controls.gyp:control_loop',
- '<(DEPTH)/y2014/control_loops/drivetrain/drivetrain.gyp:drivetrain_queue',
- '<(DEPTH)/y2014/control_loops/shooter/shooter.gyp:shooter_queue',
- '<(DEPTH)/y2014/control_loops/claw/claw.gyp:claw_queue',
- '<(DEPTH)/y2014/y2014.gyp:constants',
- '<(AOS)/common/common.gyp:time',
- '<(AOS)/common/util/util.gyp:phased_loop',
- '<(AOS)/common/util/util.gyp:trapezoid_profile',
- '<(AOS)/build/aos.gyp:logging',
- '<(AOS)/common/actions/actions.gyp:action_lib',
- '<(DEPTH)/y2014/actors/actors.gyp:shoot_action_lib',
- '<(DEPTH)/y2014/actors/actors.gyp:drivetrain_action_lib',
- '<(DEPTH)/y2014/queues/queues.gyp:hot_goal',
- '<(AOS)/common/logging/logging.gyp:queue_logging',
- '<(DEPTH)/y2014/queues/queues.gyp:profile_params',
- '<(DEPTH)/y2014/queues/queues.gyp:auto_mode',
- ],
- 'export_dependent_settings': [
- '<(AOS)/common/controls/controls.gyp:control_loop',
- ],
- },
- {
- 'target_name': 'auto',
- 'type': 'executable',
- 'sources': [
- 'auto_main.cc',
- ],
- 'dependencies': [
- '<(AOS)/linux_code/linux_code.gyp:init',
- '<(DEPTH)/frc971/autonomous/autonomous.gyp:auto_queue',
- 'auto_lib',
- ],
- },
- ],
-}
diff --git a/y2014/control_loops/claw/claw.gyp b/y2014/control_loops/claw/claw.gyp
deleted file mode 100644
index 8a6a7c5..0000000
--- a/y2014/control_loops/claw/claw.gyp
+++ /dev/null
@@ -1,99 +0,0 @@
-{
- 'targets': [
- {
- 'target_name': 'replay_claw',
- 'type': 'executable',
- 'variables': {
- 'no_rsync': 1,
- },
- 'sources': [
- 'replay_claw.cc',
- ],
- 'dependencies': [
- 'claw_queue',
- '<(AOS)/common/controls/controls.gyp:replay_control_loop',
- '<(AOS)/linux_code/linux_code.gyp:init',
- ],
- },
- {
- 'target_name': 'claw_queue',
- 'type': 'static_library',
- 'sources': ['claw.q'],
- 'variables': {
- 'header_path': 'y2014/control_loops/claw',
- },
- 'dependencies': [
- '<(AOS)/common/controls/controls.gyp:control_loop_queues',
- '<(DEPTH)/frc971/control_loops/control_loops.gyp:queues',
- ],
- 'export_dependent_settings': [
- '<(AOS)/common/controls/controls.gyp:control_loop_queues',
- '<(DEPTH)/frc971/control_loops/control_loops.gyp:queues',
- ],
- 'includes': ['../../../aos/build/queues.gypi'],
- },
- {
- 'target_name': 'claw_lib',
- 'type': 'static_library',
- 'sources': [
- 'claw.cc',
- 'claw_motor_plant.cc',
- ],
- 'dependencies': [
- 'claw_queue',
- '<(AOS)/common/controls/controls.gyp:control_loop',
- '<(DEPTH)/y2014/y2014.gyp:constants',
- '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
- '<(AOS)/common/controls/controls.gyp:polytope',
- '<(DEPTH)/frc971/control_loops/control_loops.gyp:coerce_goal',
- '<(AOS)/common/logging/logging.gyp:queue_logging',
- '<(AOS)/common/logging/logging.gyp:matrix_logging',
- ],
- 'export_dependent_settings': [
- 'claw_queue',
- '<(AOS)/common/controls/controls.gyp:control_loop',
- '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
- '<(AOS)/common/controls/controls.gyp:polytope',
- '<(DEPTH)/frc971/control_loops/control_loops.gyp:coerce_goal',
- ],
- },
- {
- 'target_name': 'claw_lib_test',
- 'type': 'executable',
- 'sources': [
- 'claw_lib_test.cc',
- ],
- 'dependencies': [
- '<(EXTERNALS):gtest',
- 'claw_queue',
- 'claw_lib',
- '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
- '<(AOS)/common/controls/controls.gyp:control_loop_test',
- ],
- },
- {
- 'target_name': 'claw_calibration',
- 'type': 'executable',
- 'sources': [
- 'claw_calibration.cc',
- ],
- 'dependencies': [
- '<(AOS)/linux_code/linux_code.gyp:init',
- 'claw_queue',
- '<(AOS)/common/controls/controls.gyp:control_loop',
- '<(DEPTH)/y2014/y2014.gyp:constants',
- ],
- },
- {
- 'target_name': 'claw',
- 'type': 'executable',
- 'sources': [
- 'claw_main.cc',
- ],
- 'dependencies': [
- '<(AOS)/linux_code/linux_code.gyp:init',
- 'claw_lib',
- ],
- },
- ],
-}
diff --git a/y2014/control_loops/drivetrain/drivetrain.gyp b/y2014/control_loops/drivetrain/drivetrain.gyp
deleted file mode 100644
index ffe4337..0000000
--- a/y2014/control_loops/drivetrain/drivetrain.gyp
+++ /dev/null
@@ -1,103 +0,0 @@
-{
- 'targets': [
- {
- 'target_name': 'replay_drivetrain',
- 'type': 'executable',
- 'variables': {
- 'no_rsync': 1,
- },
- 'sources': [
- 'replay_drivetrain.cc',
- ],
- 'dependencies': [
- 'drivetrain_queue',
- '<(AOS)/common/controls/controls.gyp:replay_control_loop',
- '<(AOS)/linux_code/linux_code.gyp:init',
- ],
- },
- {
- 'target_name': 'drivetrain_queue',
- 'type': 'static_library',
- 'sources': ['drivetrain.q'],
- 'variables': {
- 'header_path': 'y2014/control_loops/drivetrain',
- },
- 'dependencies': [
- '<(AOS)/common/controls/controls.gyp:control_loop_queues',
- ],
- 'export_dependent_settings': [
- '<(AOS)/common/controls/controls.gyp:control_loop_queues',
- ],
- 'includes': ['../../../aos/build/queues.gypi'],
- },
- {
- 'target_name': 'polydrivetrain_plants',
- 'type': 'static_library',
- 'sources': [
- 'polydrivetrain_dog_motor_plant.cc',
- 'drivetrain_dog_motor_plant.cc',
- ],
- 'dependencies': [
- '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
- ],
- 'export_dependent_settings': [
- '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
- ],
- },
- {
- 'target_name': 'drivetrain_lib',
- 'type': 'static_library',
- 'sources': [
- 'drivetrain.cc',
- 'polydrivetrain_cim_plant.cc',
- ],
- 'dependencies': [
- 'drivetrain_queue',
- '<(AOS)/common/controls/controls.gyp:control_loop',
- '<(DEPTH)/y2014/y2014.gyp:constants',
- '<(AOS)/common/controls/controls.gyp:polytope',
- '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
- '<(DEPTH)/frc971/control_loops/control_loops.gyp:coerce_goal',
- '<(DEPTH)/frc971/queues/queues.gyp:gyro',
- '<(AOS)/common/util/util.gyp:log_interval',
- '<(AOS)/common/logging/logging.gyp:queue_logging',
- '<(AOS)/common/logging/logging.gyp:matrix_logging',
- ],
- 'export_dependent_settings': [
- '<(AOS)/common/controls/controls.gyp:polytope',
- '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
- '<(DEPTH)/frc971/control_loops/control_loops.gyp:coerce_goal',
- '<(AOS)/common/controls/controls.gyp:control_loop',
- 'drivetrain_queue',
- ],
- },
- {
- 'target_name': 'drivetrain_lib_test',
- 'type': 'executable',
- 'sources': [
- 'drivetrain_lib_test.cc',
- ],
- 'dependencies': [
- '<(EXTERNALS):gtest',
- 'drivetrain_queue',
- 'drivetrain_lib',
- '<(AOS)/common/controls/controls.gyp:control_loop_test',
- '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
- '<(DEPTH)/frc971/queues/queues.gyp:gyro',
- '<(AOS)/common/common.gyp:queues',
- ],
- },
- {
- 'target_name': 'drivetrain',
- 'type': 'executable',
- 'sources': [
- 'drivetrain_main.cc',
- ],
- 'dependencies': [
- '<(AOS)/linux_code/linux_code.gyp:init',
- 'drivetrain_lib',
- 'drivetrain_queue',
- ],
- },
- ],
-}
diff --git a/y2014/control_loops/drivetrain/ssdrivetrain.cc b/y2014/control_loops/drivetrain/ssdrivetrain.cc
index 53cc2dd..2551ddb 100644
--- a/y2014/control_loops/drivetrain/ssdrivetrain.cc
+++ b/y2014/control_loops/drivetrain/ssdrivetrain.cc
@@ -157,7 +157,7 @@
loop_->mutable_U().setZero();
loop_->mutable_U_uncapped().setZero();
}
- loop_->UpdateObserver();
+ loop_->UpdateObserver(loop_->U());
}
::Eigen::Matrix<double, 4, 1> E = loop_->R() - loop_->X_hat();
LOG_MATRIX(DEBUG, "E", E);
diff --git a/y2014/control_loops/shooter/shooter.gyp b/y2014/control_loops/shooter/shooter.gyp
deleted file mode 100644
index e96b592..0000000
--- a/y2014/control_loops/shooter/shooter.gyp
+++ /dev/null
@@ -1,82 +0,0 @@
-{
- 'targets': [
- {
- 'target_name': 'replay_shooter',
- 'type': 'executable',
- 'variables': {
- 'no_rsync': 1,
- },
- 'sources': [
- 'replay_shooter.cc',
- ],
- 'dependencies': [
- 'shooter_queue',
- '<(AOS)/common/controls/controls.gyp:replay_control_loop',
- '<(AOS)/linux_code/linux_code.gyp:init',
- ],
- },
- {
- 'target_name': 'shooter_queue',
- 'type': 'static_library',
- 'sources': ['shooter.q'],
- 'variables': {
- 'header_path': 'y2014/control_loops/shooter',
- },
- 'dependencies': [
- '<(AOS)/common/controls/controls.gyp:control_loop_queues',
- '<(DEPTH)/frc971/control_loops/control_loops.gyp:queues',
- ],
- 'export_dependent_settings': [
- '<(AOS)/common/controls/controls.gyp:control_loop_queues',
- '<(DEPTH)/frc971/control_loops/control_loops.gyp:queues',
- ],
- 'includes': ['../../../aos/build/queues.gypi'],
- },
- {
- 'target_name': 'shooter_lib',
- 'type': 'static_library',
- 'sources': [
- 'shooter.cc',
- 'shooter_motor_plant.cc',
- 'unaugmented_shooter_motor_plant.cc',
- ],
- 'dependencies': [
- 'shooter_queue',
- '<(AOS)/common/controls/controls.gyp:control_loop',
- '<(DEPTH)/y2014/y2014.gyp:constants',
- '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
- '<(AOS)/common/logging/logging.gyp:queue_logging',
- ],
- 'export_dependent_settings': [
- 'shooter_queue',
- '<(AOS)/common/controls/controls.gyp:control_loop',
- '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
- ],
- },
- {
- 'target_name': 'shooter_lib_test',
- 'type': 'executable',
- 'sources': [
- 'shooter_lib_test.cc',
- ],
- 'dependencies': [
- '<(EXTERNALS):gtest',
- 'shooter_queue',
- 'shooter_lib',
- '<(AOS)/common/controls/controls.gyp:control_loop_test',
- '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
- ],
- },
- {
- 'target_name': 'shooter',
- 'type': 'executable',
- 'sources': [
- 'shooter_main.cc',
- ],
- 'dependencies': [
- '<(AOS)/linux_code/linux_code.gyp:init',
- 'shooter_lib',
- ],
- },
- ],
-}
diff --git a/y2014/control_loops/update_arm.sh b/y2014/control_loops/update_arm.sh
deleted file mode 100755
index c941db9..0000000
--- a/y2014/control_loops/update_arm.sh
+++ /dev/null
@@ -1,12 +0,0 @@
-#!/bin/bash
-#
-# Updates the arm controllers (for both robots).
-
-export PYTHONPATH=../../frc971/control_loops/python
-
-cd $(dirname $0)
-
-./python/arm.py fridge/arm_motor_plant.cc \
- fridge/arm_motor_plant.h \
- fridge/integral_arm_plant.cc \
- fridge/integral_arm_plant.h
diff --git a/y2014/control_loops/update_claw.sh b/y2014/control_loops/update_claw.sh
deleted file mode 100755
index 18ffc4c..0000000
--- a/y2014/control_loops/update_claw.sh
+++ /dev/null
@@ -1,10 +0,0 @@
-#!/bin/bash
-#
-# Updates the claw controllers.
-
-export PYTHONPATH=../../frc971/control_loops/python
-
-cd $(dirname $0)
-
-./python/claw.py claw/claw_motor_plant.h \
- claw/claw_motor_plant.cc
diff --git a/y2014/control_loops/update_drivetrain.sh b/y2014/control_loops/update_drivetrain.sh
deleted file mode 100755
index f783939..0000000
--- a/y2014/control_loops/update_drivetrain.sh
+++ /dev/null
@@ -1,12 +0,0 @@
-#!/bin/bash
-#
-# Updates the drivetrain controllers (for both robots).
-
-export PYTHONPATH=../../frc971/control_loops/python
-
-cd $(dirname $0)
-
-./python/drivetrain.py drivetrain/drivetrain_dog_motor_plant.h \
- drivetrain/drivetrain_dog_motor_plant.cc \
- drivetrain/drivetrain_clutch_motor_plant.h \
- drivetrain/drivetrain_clutch_motor_plant.cc
diff --git a/y2014/control_loops/update_polydrivetrain.sh b/y2014/control_loops/update_polydrivetrain.sh
deleted file mode 100755
index 6cc3e56..0000000
--- a/y2014/control_loops/update_polydrivetrain.sh
+++ /dev/null
@@ -1,12 +0,0 @@
-#!/bin/bash
-#
-# Updates the polydrivetrain controllers (for both robots) and CIM models.
-
-export PYTHONPATH=../../frc971/control_loops/python
-
-cd $(dirname $0)
-
-./python/polydrivetrain.py drivetrain/polydrivetrain_dog_motor_plant.h \
- drivetrain/polydrivetrain_dog_motor_plant.cc \
- drivetrain/polydrivetrain_cim_plant.h \
- drivetrain/polydrivetrain_cim_plant.cc
diff --git a/y2014/control_loops/update_shooter.sh b/y2014/control_loops/update_shooter.sh
deleted file mode 100755
index 6dbf5f5..0000000
--- a/y2014/control_loops/update_shooter.sh
+++ /dev/null
@@ -1,12 +0,0 @@
-#!/bin/bash
-#
-# Updates the shooter controller.
-
-cd $(dirname $0)
-
-export PYTHONPATH=../../frc971/control_loops/python
-
-./python/shooter.py shooter/shooter_motor_plant.h \
- shooter/shooter_motor_plant.cc \
- shooter/unaugmented_shooter_motor_plant.h \
- shooter/unaugmented_shooter_motor_plant.cc
diff --git a/y2014/prime/hot_goal_reader.cc b/y2014/hot_goal_reader.cc
similarity index 100%
rename from y2014/prime/hot_goal_reader.cc
rename to y2014/hot_goal_reader.cc
diff --git a/y2014/prime/BUILD b/y2014/prime/BUILD
deleted file mode 100644
index f504aba..0000000
--- a/y2014/prime/BUILD
+++ /dev/null
@@ -1,35 +0,0 @@
-package(default_visibility = ['//visibility:public'])
-
-load('/aos/prime/downloader/downloader', 'aos_downloader')
-
-aos_downloader(
- name = 'download',
- start_srcs = [
- '//y2014/control_loops/drivetrain:drivetrain',
- '//y2014/control_loops/claw:claw',
- '//y2014/control_loops/shooter:shooter',
- '//y2014/autonomous:auto',
- '//y2014/wpilib:wpilib_interface',
- '//y2014:joystick_reader',
- '//y2014/actors:binaries',
- ':hot_goal_reader',
- '//aos:prime_start_binaries',
- ],
- srcs = [
- '//aos:prime_binaries',
- ],
-)
-
-cc_binary(
- name = 'hot_goal_reader',
- srcs = [
- 'hot_goal_reader.cc',
- ],
- deps = [
- '//aos/common:time',
- '//aos/common/logging',
- '//aos/common/logging:queue_logging',
- '//aos/linux_code:init',
- '//y2014/queues:hot_goal',
- ],
-)
diff --git a/y2014/prime/build.sh b/y2014/prime/build.sh
deleted file mode 100755
index f83d9f4..0000000
--- a/y2014/prime/build.sh
+++ /dev/null
@@ -1,5 +0,0 @@
-#!/bin/bash
-
-cd $(dirname $0)
-
-exec ../../aos/build/build.py $0 prime y2014 prime.gyp "$@"
diff --git a/y2014/prime/compile_loop.sh b/y2014/prime/compile_loop.sh
deleted file mode 100755
index de6b0d3..0000000
--- a/y2014/prime/compile_loop.sh
+++ /dev/null
@@ -1,16 +0,0 @@
-#!/bin/bash
-
-# Runs `build.sh all` and then waits for a file to be modified in a loop.
-# Useful for making changes to the code while continuously making sure they
-# compile.
-# Requires the util-linux and inotify-tools packages.
-
-chrt -i -p 0 $$
-ionice -c 3 -p $$
-
-while true; do
- $(dirname $0)/build.sh all
- echo 'compile_loop.sh: Waiting for a file modification...' 1>&2
- inotifywait -e close_write -r aos frc971 bbb_cape
- echo 'compile_loop.sh: Done waiting for a file modification' 1>&2
-done
diff --git a/y2014/prime/prime.gyp b/y2014/prime/prime.gyp
deleted file mode 100644
index a64fc1c..0000000
--- a/y2014/prime/prime.gyp
+++ /dev/null
@@ -1,55 +0,0 @@
-{
- 'targets': [
- {
- 'target_name': 'All',
- 'type': 'none',
- 'dependencies': [
- '../../frc971/frc971.gyp:All',
-
- '../control_loops/drivetrain/drivetrain.gyp:drivetrain',
- '../control_loops/drivetrain/drivetrain.gyp:drivetrain_lib_test',
- '../control_loops/drivetrain/drivetrain.gyp:replay_drivetrain',
- '../control_loops/claw/claw.gyp:claw',
- '../control_loops/claw/claw.gyp:claw_calibration',
- '../control_loops/claw/claw.gyp:claw_lib_test',
- '../control_loops/claw/claw.gyp:replay_claw',
- '../control_loops/shooter/shooter.gyp:shooter',
- '../control_loops/shooter/shooter.gyp:shooter_lib_test',
- '../control_loops/shooter/shooter.gyp:replay_shooter',
- '../autonomous/autonomous.gyp:auto',
- '../y2014.gyp:joystick_reader',
- '../actors/actors.gyp:binaries',
- 'hot_goal_reader',
- ],
- 'copies': [
- {
- 'destination': '<(rsync_dir)',
- 'files': [
- 'start_list.txt',
- ],
- },
- ],
- 'conditions': [
- ['ARCHITECTURE=="arm_frc"', {
- 'dependencies': [
- '../wpilib/wpilib.gyp:wpilib_interface',
- ],
- }],
- ],
- },
- {
- 'target_name': 'hot_goal_reader',
- 'type': 'executable',
- 'sources': [
- 'hot_goal_reader.cc',
- ],
- 'dependencies': [
- '<(AOS)/common/common.gyp:time',
- '<(AOS)/build/aos.gyp:logging',
- '<(AOS)/common/logging/logging.gyp:queue_logging',
- '<(AOS)/linux_code/linux_code.gyp:init',
- '<(DEPTH)/y2014/queues/queues.gyp:hot_goal'
- ],
- },
- ],
-}
diff --git a/y2014/queues/queues.gyp b/y2014/queues/queues.gyp
deleted file mode 100644
index 1325384..0000000
--- a/y2014/queues/queues.gyp
+++ /dev/null
@@ -1,37 +0,0 @@
-{
- 'targets': [
- {
- 'target_name': 'profile_params',
- 'type': 'static_library',
- 'sources': [
- 'profile_params.q',
- ],
- 'variables': {
- 'header_path': 'y2014/queues',
- },
- 'includes': ['../../aos/build/queues.gypi'],
- },
- {
- 'target_name': 'hot_goal',
- 'type': 'static_library',
- 'sources': [
- 'hot_goal.q',
- ],
- 'variables': {
- 'header_path': 'y2014/queues',
- },
- 'includes': ['../../aos/build/queues.gypi'],
- },
- {
- 'target_name': 'auto_mode',
- 'type': 'static_library',
- 'sources': [
- 'auto_mode.q',
- ],
- 'variables': {
- 'header_path': 'y2014/queues',
- },
- 'includes': ['../../aos/build/queues.gypi'],
- },
- ],
-}
diff --git a/y2014/wpilib/wpilib.gyp b/y2014/wpilib/wpilib.gyp
deleted file mode 100644
index 798ff76..0000000
--- a/y2014/wpilib/wpilib.gyp
+++ /dev/null
@@ -1,39 +0,0 @@
-{
- 'targets': [
- {
- 'target_name': 'wpilib_interface',
- 'type': 'executable',
- 'sources': [
- 'wpilib_interface.cc'
- ],
- 'dependencies': [
- '<(AOS)/linux_code/linux_code.gyp:init',
- '<(AOS)/common/common.gyp:stl_mutex',
- '<(AOS)/build/aos.gyp:logging',
- '<(EXTERNALS):WPILib',
- '<(DEPTH)/y2014/y2014.gyp:constants',
- '<(DEPTH)/y2014/queues/queues.gyp:auto_mode',
- '<(DEPTH)/y2014/control_loops/drivetrain/drivetrain.gyp:drivetrain_queue',
- '<(DEPTH)/y2014/control_loops/shooter/shooter.gyp:shooter_queue',
- '<(DEPTH)/y2014/control_loops/claw/claw.gyp:claw_queue',
- '<(AOS)/common/controls/controls.gyp:control_loop',
- '<(AOS)/common/util/util.gyp:log_interval',
- '<(AOS)/common/common.gyp:time',
- '<(AOS)/common/logging/logging.gyp:queue_logging',
- '<(AOS)/common/messages/messages.gyp:robot_state',
- '<(AOS)/common/util/util.gyp:phased_loop',
- '<(AOS)/common/messages/messages.gyp:robot_state',
- '<(DEPTH)/frc971/wpilib/wpilib.gyp:hall_effect',
- '<(DEPTH)/frc971/wpilib/wpilib.gyp:joystick_sender',
- '<(DEPTH)/frc971/wpilib/wpilib.gyp:loop_output_handler',
- '<(DEPTH)/frc971/wpilib/wpilib.gyp:buffered_pcm',
- '<(DEPTH)/frc971/wpilib/wpilib.gyp:gyro_sender',
- '<(DEPTH)/frc971/wpilib/wpilib.gyp:dma_edge_counting',
- '<(DEPTH)/frc971/wpilib/wpilib.gyp:interrupt_edge_counting',
- '<(DEPTH)/frc971/wpilib/wpilib.gyp:encoder_and_potentiometer',
- '<(DEPTH)/frc971/control_loops/control_loops.gyp:queues',
- '<(DEPTH)/frc971/wpilib/wpilib.gyp:logging_queue',
- ],
- },
- ],
-}
diff --git a/y2014/y2014.gyp b/y2014/y2014.gyp
deleted file mode 100644
index 8787a9a..0000000
--- a/y2014/y2014.gyp
+++ /dev/null
@@ -1,44 +0,0 @@
-{
- 'targets': [
- {
- 'target_name': 'constants',
- 'type': 'static_library',
- 'sources': [
- 'constants.cc',
- ],
- 'dependencies': [
- '<(AOS)/build/aos.gyp:logging',
- '<(AOS)/common/common.gyp:once',
- '<(AOS)/common/network/network.gyp:team_number',
- '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
- '<(DEPTH)/y2014/control_loops/drivetrain/drivetrain.gyp:polydrivetrain_plants',
- ],
- 'export_dependent_settings': [
- '<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
- ],
- },
- {
- 'target_name': 'joystick_reader',
- 'type': 'executable',
- 'sources': [
- 'joystick_reader.cc',
- ],
- 'dependencies': [
- '<(AOS)/prime/input/input.gyp:joystick_input',
- '<(AOS)/linux_code/linux_code.gyp:init',
- '<(AOS)/build/aos.gyp:logging',
- '<(AOS)/common/common.gyp:time',
- '<(AOS)/common/util/util.gyp:log_interval',
- '<(AOS)/common/actions/actions.gyp:action_lib',
-
- '<(DEPTH)/y2014/control_loops/drivetrain/drivetrain.gyp:drivetrain_queue',
- '<(DEPTH)/y2014/y2014.gyp:constants',
- '<(DEPTH)/frc971/queues/queues.gyp:gyro',
- '<(DEPTH)/frc971/autonomous/autonomous.gyp:auto_queue',
- '<(DEPTH)/y2014/control_loops/claw/claw.gyp:claw_queue',
- '<(DEPTH)/y2014/control_loops/shooter/shooter.gyp:shooter_queue',
- '<(DEPTH)/y2014/actors/actors.gyp:shoot_action_lib',
- ],
- },
- ],
-}
diff --git a/y2014_bot3/control_loops/drivetrain/drivetrain.cc b/y2014_bot3/control_loops/drivetrain/drivetrain.cc
index 047cb71..8f26161 100644
--- a/y2014_bot3/control_loops/drivetrain/drivetrain.cc
+++ b/y2014_bot3/control_loops/drivetrain/drivetrain.cc
@@ -183,7 +183,7 @@
loop_->mutable_U().setZero();
loop_->mutable_U_uncapped().setZero();
}
- loop_->UpdateObserver();
+ loop_->UpdateObserver(loop_->U());
}
::Eigen::Matrix<double, 4, 1> E = loop_->R() - loop_->X_hat();
LOG_MATRIX(DEBUG, "E", E);
diff --git a/y2014_bot3/wpilib/wpilib_interface.cc b/y2014_bot3/wpilib/wpilib_interface.cc
index 089b1ab..4dc421d 100644
--- a/y2014_bot3/wpilib/wpilib_interface.cc
+++ b/y2014_bot3/wpilib/wpilib_interface.cc
@@ -17,6 +17,7 @@
#include "dma.h"
#include "ControllerPower.h"
#include "DigitalInput.h"
+#undef ERROR
#include "aos/common/logging/logging.h"
#include "aos/common/logging/queue_logging.h"
@@ -81,7 +82,12 @@
LOG(INFO, "In sensor reader thread\n");
my_pid_ = getpid();
- ds_ = DriverStation::GetInstance();
+ ds_ =
+#ifdef WPILIB2015
+ DriverStation::GetInstance();
+#else
+ &DriverStation::GetInstance();
+#endif
LOG(INFO, "Things are now started\n");
diff --git a/y2015/control_loops/drivetrain/drivetrain.cc b/y2015/control_loops/drivetrain/drivetrain.cc
index 22a5d48..9ed927a 100644
--- a/y2015/control_loops/drivetrain/drivetrain.cc
+++ b/y2015/control_loops/drivetrain/drivetrain.cc
@@ -192,7 +192,7 @@
loop_->mutable_U().setZero();
loop_->mutable_U_uncapped().setZero();
}
- loop_->UpdateObserver();
+ loop_->UpdateObserver(loop_->U());
}
::Eigen::Matrix<double, 4, 1> E = loop_->R() - loop_->X_hat();
LOG_MATRIX(DEBUG, "E", E);
diff --git a/y2015_bot3/control_loops/drivetrain/drivetrain.cc b/y2015_bot3/control_loops/drivetrain/drivetrain.cc
index b126ad2..f7e039e 100644
--- a/y2015_bot3/control_loops/drivetrain/drivetrain.cc
+++ b/y2015_bot3/control_loops/drivetrain/drivetrain.cc
@@ -187,7 +187,7 @@
loop_->mutable_U().setZero();
loop_->mutable_U_uncapped().setZero();
}
- loop_->UpdateObserver();
+ loop_->UpdateObserver(loop_->U());
}
::Eigen::Matrix<double, 4, 1> E = loop_->R() - loop_->X_hat();
LOG_MATRIX(DEBUG, "E", E);