added support for reading sensors from the gyro board
diff --git a/frc971/input/gyro_board_reader.cc b/frc971/input/gyro_board_reader.cc
new file mode 100644
index 0000000..f123b8e
--- /dev/null
+++ b/frc971/input/gyro_board_reader.cc
@@ -0,0 +1,163 @@
+#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 "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"
+
+#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;
+
+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*/ * 2.0 /*2x*/) *
+ ((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*/ * 2.0 /*2x*/) *
+ (1.0) /*gears*/ * (2 * M_PI);
+}
+
+} // namespace
+
+class GyroBoardReader {
+ public:
+ void Run() {
+ LibUSB libusb;
+
+ ::std::unique_ptr<LibUSBDeviceHandle> dev_handle(
+ libusb.FindDeviceWithVIDPID(kVid, kPid));
+ if (!dev_handle) {
+ LOG(FATAL, "couldn't find device\n");
+ }
+
+ uint8_t data[64];
+ GyroBoardData *real_data;
+ static_assert(sizeof(*real_data) <= sizeof(data), "it doesn't fit");
+
+ uint8_t *data_pointer = data;
+ memcpy(&real_data, &data_pointer, sizeof(data_pointer));
+ while (true) {
+ int read_bytes;
+ int r = dev_handle->interrupt_transfer(
+ kEndpoint, data, sizeof(data), &read_bytes, kReadTimeout);
+
+ if (r != 0) {
+ if (r == LIBUSB_ERROR_TIMEOUT) {
+ LOG(ERROR, "read timed out\n");
+ continue;
+ }
+ LOG(FATAL, "libusb gave error %d\n", r);
+ }
+
+ if (read_bytes != sizeof(data)) {
+ LOG(ERROR, "read %d bytes instead of %zu\n",
+ read_bytes, sizeof(data));
+ continue;
+ }
+
+ ProcessData(real_data);
+ }
+ }
+
+ 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;
+
+ void ProcessData(GyroBoardData *data) {
+ data->NetworkToHost();
+
+ drivetrain.position.MakeWithBuilder()
+ .right_encoder(data->right_drive)
+ .left_encoder(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(data->top_rise_count)
+ .top_disc_posedge_position(index_translate(data->capture_top_rise))
+ .top_disc_negedge_count(data->top_fall_count)
+ .top_disc_negedge_position(index_translate(data->capture_top_fall))
+ .bottom_disc_detect(!data->bottom_disc)
+ .bottom_disc_posedge_count(data->bottom_rise_count)
+ .bottom_disc_negedge_count(data->bottom_fall_count)
+ .bottom_disc_negedge_wait_position(index_translate(
+ data->capture_bottom_fall_delay))
+ .bottom_disc_negedge_wait_count(data->bottom_fall_delay_count)
+ .Send();
+ }
+};
+
+} // namespace frc971
+
+int main() {
+ ::aos::Init();
+ ::frc971::GyroBoardReader reader;
+ reader.Run();
+ ::aos::Cleanup();
+ return 0;
+}