Made some changes to JoystickReader for third robot.
Changes are by no means finalized!
- Copied input stuff to bot3/input.
(Copying even unmodified files was necessary so git wouldn't build stuff
from frc971/input/input.gyp and see duplicate targets.)
- Modified build system to build this.
- Took the opportunity to fix some name-related stylguide compliance issues.
(I fixed these in frc971 as well.)
diff --git a/bot3/input/gyro_sensor_receiver.cc b/bot3/input/gyro_sensor_receiver.cc
new file mode 100644
index 0000000..4dec23e
--- /dev/null
+++ b/bot3/input/gyro_sensor_receiver.cc
@@ -0,0 +1,300 @@
+#include <libusb-1.0/libusb.h>
+#include <memory>
+
+#include "aos/common/inttypes.h"
+#include "aos/atom_code/init.h"
+#include "aos/common/logging/logging.h"
+#include "aos/common/time.h"
+#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 "frc971/input/gyro_board_data.h"
+#include "gyro_board/src/libusb-driver/libusb_wrap.h"
+#include "frc971/queues/GyroAngle.q.h"
+
+#ifndef M_PI
+#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 ::frc971::sensors::gyro;
+
+namespace frc971 {
+namespace {
+
+inline double drivetrain_translate(int32_t in) {
+ return static_cast<double>(in) / (256.0 /*cpr*/ * 4.0 /*quad*/) *
+ (19.0 / 50.0) /*output reduction*/ * (64.0 / 24.0) /*encoder gears*/ *
+ (3.5 /*wheel diameter*/ * 2.54 / 100.0 * M_PI);
+}
+
+inline double wrist_translate(int32_t in) {
+ return static_cast<double>(in) / (256.0 /*cpr*/ * 4.0 /*quad*/) *
+ (14.0 / 50.0 * 20.0 / 84.0) /*gears*/ * (2 * M_PI);
+}
+
+inline double angle_adjust_translate(int32_t in) {
+ static const double kCableDiameter = 0.060;
+ return -static_cast<double>(in) / (256.0 /*cpr*/ * 4.0 /*quad*/) *
+ ((0.75 + kCableDiameter) / (16.61125 + kCableDiameter)) /*pulleys*/ *
+ (2 * M_PI);
+}
+
+inline double shooter_translate(int32_t in) {
+ return static_cast<double>(in) / (32.0 /*cpr*/ * 4.0 /*quad*/) *
+ (15.0 / 34.0) /*gears*/ * (2 * M_PI);
+}
+
+inline double index_translate(int32_t in) {
+ return -static_cast<double>(in) / (128.0 /*cpr*/ * 4.0 /*quad*/) *
+ (1.0) /*gears*/ * (2 * M_PI);
+}
+
+} // namespace
+
+class GyroSensorUnpacker :
+ public ::aos::sensors::SensorUnpackerInterface<GyroBoardData> {
+ public:
+ GyroSensorUnpacker()
+ : top_rise_count_(0),
+ last_top_rise_count_(0),
+ top_fall_count_(0),
+ last_top_fall_count_(0),
+ bottom_rise_count_(0),
+ last_bottom_rise_count_(0),
+ bottom_fall_delay_count_(0),
+ last_bottom_fall_delay_count_(0),
+ bottom_fall_count_(0),
+ last_bottom_fall_count_(0),
+ wrist_rise_count_(0),
+ last_wrist_rise_count_(0),
+ shooter_angle_rise_count_(0),
+ last_shooter_angle_rise_count_(0) {
+ }
+
+ void UnpackFrom(GyroBoardData *data) {
+ data->NetworkToHost();
+ LOG(DEBUG, "processing a packet\n");
+
+ static ::aos::time::Time last_time = ::aos::time::Time::Now();
+ if ((last_time - ::aos::time::Time::Now()) >
+ ::aos::time::Time::InMS(0.00205)) {
+ LOG(INFO, "missed one\n");
+ }
+
+ gyro.MakeWithBuilder()
+ .angle(data->gyro_angle / 16.0 / 1000.0 / 180.0 * M_PI)
+ .Send();
+
+ UpdateWrappingCounter(data->top_rise_count,
+ &last_top_rise_count_, &top_rise_count_);
+ UpdateWrappingCounter(data->top_fall_count,
+ &last_top_fall_count_, &top_fall_count_);
+ UpdateWrappingCounter(data->bottom_rise_count,
+ &last_bottom_rise_count_, &bottom_rise_count_);
+ UpdateWrappingCounter(data->bottom_fall_delay_count,
+ &last_bottom_fall_delay_count_, &bottom_fall_delay_count_);
+ UpdateWrappingCounter(data->bottom_fall_count,
+ &last_bottom_fall_count_, &bottom_fall_count_);
+ UpdateWrappingCounter(data->wrist_rise_count,
+ &last_wrist_rise_count_, &wrist_rise_count_);
+ UpdateWrappingCounter(data->shooter_angle_rise_count,
+ &last_shooter_angle_rise_count_, &shooter_angle_rise_count_);
+
+ drivetrain.position.MakeWithBuilder()
+ .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:
+ void UpdateWrappingCounter(
+ uint8_t current, uint8_t *last, int32_t *counter) {
+ if (*last > current) {
+ *counter += 0x100;
+ }
+ *counter = (*counter & 0xffffff00) | current;
+ *last = current;
+ }
+
+ int32_t top_rise_count_;
+ uint8_t last_top_rise_count_;
+ int32_t top_fall_count_;
+ uint8_t last_top_fall_count_;
+ int32_t bottom_rise_count_;
+ uint8_t last_bottom_rise_count_;
+ int32_t bottom_fall_delay_count_;
+ uint8_t last_bottom_fall_delay_count_;
+ int32_t bottom_fall_count_;
+ uint8_t last_bottom_fall_count_;
+ int32_t wrist_rise_count_;
+ uint8_t last_wrist_rise_count_;
+ int32_t shooter_angle_rise_count_;
+ uint8_t last_shooter_angle_rise_count_;
+};
+
+class GyroSensorReceiver :
+ public ::aos::sensors::SensorReceiver<GyroBoardData> {
+ public:
+ GyroSensorReceiver(
+ ::aos::sensors::SensorUnpackerInterface<GyroBoardData> *unpacker)
+ : ::aos::sensors::SensorReceiver<GyroBoardData>(unpacker),
+ start_time_(0, 0) {
+ static_assert(sizeof(GyroBoardData) <= kDataLength,
+ "the buffer will be too small");
+ }
+
+ private:
+ static const unsigned char kEndpoint = 0x81;
+ // in ms
+ // 0 is unlimited
+ static const unsigned int kReadTimeout = 1000;
+
+ // vendor ID
+ static const int32_t kVid = 0x1424;
+ // product ID
+ static const int32_t kPid = 0xd243;
+
+ // How big of a buffer to give the function.
+ static const size_t kDataLength = 64;
+
+ virtual void DoReceiveData() {
+ // Loop and then return once we get a good one.
+ while (true) {
+ completed_transfer_ = NULL;
+ while (completed_transfer_ == NULL) {
+ libusb_.HandleEvents();
+ }
+ LOG(DEBUG, "processing transfer %p\n", completed_transfer_);
+
+ if (completed_transfer_->read_bytes() <
+ static_cast<ssize_t>(sizeof(GyroBoardData))) {
+ LOG(ERROR, "read %d bytes instead of at least %zd\n",
+ completed_transfer_->read_bytes(), sizeof(GyroBoardData));
+ continue;
+ }
+
+ memcpy(&data()->values, completed_transfer_->data(),
+ sizeof(GyroBoardData));
+ if (data()->count == 0) {
+ start_time_ = ::aos::time::Time::Now();
+ data()->count = 1;
+ } else {
+ ::aos::time::Time delta_time = ::aos::time::Time::Now() - start_time_;
+ data()->count = static_cast<int32_t>(
+ (delta_time / ::aos::sensors::kSensorSendFrequency) + 0.5);
+ }
+ return;
+ }
+ }
+
+ virtual void Reset() {
+ transfer1_.reset();
+ transfer2_.reset();
+ dev_handle_ = ::std::unique_ptr<LibUSBDeviceHandle>(
+ libusb_.FindDeviceWithVIDPID(kVid, kPid));
+ if (!dev_handle_) {
+ LOG(ERROR, "couldn't find device. exiting\n");
+ exit(1);
+ }
+ transfer1_ = ::std::unique_ptr<libusb::Transfer>(
+ new libusb::Transfer(kDataLength, StaticTransferCallback, this));
+ transfer2_ = ::std::unique_ptr<libusb::Transfer>(
+ new libusb::Transfer(kDataLength, StaticTransferCallback, this));
+ transfer1_->FillInterrupt(dev_handle_.get(), kEndpoint, kReadTimeout);
+ transfer2_->FillInterrupt(dev_handle_.get(), kEndpoint, kReadTimeout);
+ transfer1_->Submit();
+ transfer2_->Submit();
+
+ data()->count = 0;
+ }
+
+ static void StaticTransferCallback(libusb::Transfer *transfer, void *self) {
+ static_cast<GyroSensorReceiver *>(self)->TransferCallback(transfer);
+ }
+ void TransferCallback(libusb::Transfer *transfer) {
+ if (transfer->status() == LIBUSB_TRANSFER_COMPLETED) {
+ LOG(DEBUG, "transfer %p completed\n", transfer);
+ completed_transfer_ = transfer;
+ } else if (transfer->status() == LIBUSB_TRANSFER_TIMED_OUT) {
+ LOG(WARNING, "transfer %p timed out\n", transfer);
+ } else if (transfer->status() == LIBUSB_TRANSFER_CANCELLED) {
+ LOG(DEBUG, "transfer %p cancelled\n", transfer);
+ } else {
+ LOG(FATAL, "transfer %p has status %d\n", transfer, transfer->status());
+ }
+ transfer->Submit();
+ }
+
+ virtual void Synchronized(::aos::time::Time start_time) {
+ // Subtract off how many packets it read while synchronizing from the time.
+ start_time_ = start_time -
+ ::aos::sensors::kSensorSendFrequency * data()->count;
+ }
+
+ ::std::unique_ptr<LibUSBDeviceHandle> dev_handle_;
+ ::std::unique_ptr<libusb::Transfer> transfer1_, transfer2_;
+ // Temporary variable for holding a completed transfer to communicate that
+ // information from the callback to the code that wants it.
+ libusb::Transfer *completed_transfer_;
+
+ ::aos::time::Time start_time_;
+
+ LibUSB libusb_;
+};
+
+} // namespace frc971
+
+int main() {
+ ::aos::Init();
+ ::frc971::GyroSensorUnpacker unpacker;
+ ::frc971::GyroSensorReceiver receiver(&unpacker);
+ while (true) {
+ receiver.RunIteration();
+ }
+ ::aos::Cleanup();
+}