Copied over and modified drivetrain framework.
Sorry for the truly massive commit, there's not really a good way
to split it up, as then things will stop compiling.
Needless to say, stuff does compile but remains as of yet
untested.
Among the changes:
- Copied over constants for drivetrain_motor_plant from 2012.
- Completely (for now) disabled control loop driving, as Brian
said those loops would be too much work to tune.
- Put stuff in the proper namespaces and fixed the bazillion
resulting broken refs.
- Copied autonomous framework, but it currectly does nothing.
(I intend for this to change in the future.)
In it's current state, the work on this branch should render
the robot driveable, but that's about it.
diff --git a/bot3/input/gyro_sensor_receiver.cc b/bot3/input/gyro_sensor_receiver.cc
index 4dec23e..6553e3a 100644
--- a/bot3/input/gyro_sensor_receiver.cc
+++ b/bot3/input/gyro_sensor_receiver.cc
@@ -8,11 +8,7 @@
#include "aos/common/sensors/sensor_unpacker.h"
#include "aos/common/sensors/sensor_receiver.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
-#include "frc971/control_loops/wrist/wrist_motor.q.h"
-#include "frc971/control_loops/angle_adjust/angle_adjust_motor.q.h"
-#include "frc971/control_loops/index/index_motor.q.h"
-#include "frc971/control_loops/shooter/shooter_motor.q.h"
+#include "bot3/control_loops/drivetrain/drivetrain.q.h"
#include "frc971/input/gyro_board_data.h"
#include "gyro_board/src/libusb-driver/libusb_wrap.h"
#include "frc971/queues/GyroAngle.q.h"
@@ -21,14 +17,11 @@
#define M_PI 3.14159265358979323846
#endif
-using ::frc971::control_loops::drivetrain;
-using ::frc971::control_loops::wrist;
-using ::frc971::control_loops::angle_adjust;
-using ::frc971::control_loops::shooter;
-using ::frc971::control_loops::index_loop;
+using ::bot3::control_loops::drivetrain;
using ::frc971::sensors::gyro;
+using ::frc971::GyroBoardData;
-namespace frc971 {
+namespace bot3 {
namespace {
inline double drivetrain_translate(int32_t in) {
@@ -114,41 +107,6 @@
.right_encoder(drivetrain_translate(data->right_drive))
.left_encoder(-drivetrain_translate(data->left_drive))
.Send();
-
- wrist.position.MakeWithBuilder()
- .pos(wrist_translate(data->wrist))
- .hall_effect(!data->wrist_hall_effect)
- .calibration(wrist_translate(data->capture_wrist_rise))
- .Send();
-
- angle_adjust.position.MakeWithBuilder()
- .angle(angle_adjust_translate(data->shooter_angle))
- .bottom_hall_effect(!data->angle_adjust_bottom_hall_effect)
- .middle_hall_effect(false)
- .bottom_calibration(angle_adjust_translate(
- data->capture_shooter_angle_rise))
- .middle_calibration(angle_adjust_translate(
- 0))
- .Send();
-
- shooter.position.MakeWithBuilder()
- .position(shooter_translate(data->shooter))
- .Send();
-
- index_loop.position.MakeWithBuilder()
- .index_position(index_translate(data->indexer))
- .top_disc_detect(!data->top_disc)
- .top_disc_posedge_count(top_rise_count_)
- .top_disc_posedge_position(index_translate(data->capture_top_rise))
- .top_disc_negedge_count(top_fall_count_)
- .top_disc_negedge_position(index_translate(data->capture_top_fall))
- .bottom_disc_detect(!data->bottom_disc)
- .bottom_disc_posedge_count(bottom_rise_count_)
- .bottom_disc_negedge_count(bottom_fall_count_)
- .bottom_disc_negedge_wait_position(index_translate(
- data->capture_bottom_fall_delay))
- .bottom_disc_negedge_wait_count(bottom_fall_delay_count_)
- .Send();
}
private:
@@ -287,12 +245,12 @@
LibUSB libusb_;
};
-} // namespace frc971
+} // namespace bot3
int main() {
::aos::Init();
- ::frc971::GyroSensorUnpacker unpacker;
- ::frc971::GyroSensorReceiver receiver(&unpacker);
+ ::bot3::GyroSensorUnpacker unpacker;
+ ::bot3::GyroSensorReceiver receiver(&unpacker);
while (true) {
receiver.RunIteration();
}