commit 5f17a97a1001e0489f5e842b9cc3cc4c8d9338f5
author Brian Silverman <brians> Sun Feb 28 01:49:32 2016 -0500
committer Brian Silverman <brians> Sat Mar 05 13:43:41 2016 -0500
tree 2866eebf41f52385e0830418f2690f538c22a155
parent 5d7bb0c1c81ed52c9004f2ab3c0a06f2f05ad8d4

Add support for the IMU

Change-Id: Iaff4b088d9bec8edf439e00dda5b788cf87dff0c

y2016/wpilib/BUILD

diff --git a/y2016/wpilib/BUILD b/y2016/wpilib/BUILD
index 1571623..13e5eae 100644
--- a/y2016/wpilib/BUILD
+++ b/y2016/wpilib/BUILD
@@ -31,6 +31,7 @@
     '//frc971/wpilib:logging_queue',
     '//frc971/wpilib:wpilib_interface',
     '//frc971/wpilib:pdp_fetcher',
+    '//frc971/wpilib:ADIS16448',
     '//y2016:constants',
     '//y2016/control_loops/drivetrain:polydrivetrain_plants',
     '//y2016/control_loops/shooter:shooter_queue',

y2016/wpilib/wpilib_interface.cc

diff --git a/y2016/wpilib/wpilib_interface.cc b/y2016/wpilib/wpilib_interface.cc
index 1898951..6d16323 100644
--- a/y2016/wpilib/wpilib_interface.cc
+++ b/y2016/wpilib/wpilib_interface.cc
@@ -49,6 +49,7 @@
 #include "frc971/wpilib/logging.q.h"
 #include "frc971/wpilib/wpilib_interface.h"
 #include "frc971/wpilib/pdp_fetcher.h"
+#include "frc971/wpilib/ADIS16448.h"
 
 #ifndef M_PI
 #define M_PI 3.14159265358979323846
@@ -631,6 +632,12 @@
     ::frc971::wpilib::GyroSender gyro_sender;
     ::std::thread gyro_thread(::std::ref(gyro_sender));
 
+#if 0
+    auto imu_trigger = make_unique<DigitalInput>(100);
+    ::frc971::wpilib::ADIS16448 imu(SPI::Port::kOnboardCS1, imu_trigger.get());
+    ::std::thread imu_thread(::std::ref(imu));
+#endif
+
     DrivetrainWriter drivetrain_writer;
     drivetrain_writer.set_drivetrain_left_talon(
         ::std::unique_ptr<Talon>(new Talon(5)));
@@ -691,6 +698,10 @@
     reader_thread.join();
     gyro_sender.Quit();
     gyro_thread.join();
+#if 0
+    imu.Quit();
+    imu_thread.join();
+#endif
 
     drivetrain_writer.Quit();
     drivetrain_writer_thread.join();