Begin y2017 folder.
Change-Id: I527f49ae6b5e070fe138acd7dc7e5fff19d2b2e3
diff --git a/y2017/BUILD b/y2017/BUILD
new file mode 100644
index 0000000..aa423a8
--- /dev/null
+++ b/y2017/BUILD
@@ -0,0 +1,17 @@
+cc_library(
+ name = 'constants',
+ visibility = ['//visibility:public'],
+ srcs = [
+ 'constants.cc',
+ ],
+ hdrs = [
+ 'constants.h',
+ ],
+ deps = [
+ '//aos/common/logging',
+ '//aos/common:once',
+ '//aos/common/network:team_number',
+ '//aos/common:mutex',
+ '//frc971:constants',
+ ],
+)
diff --git a/y2017/constants.cc b/y2017/constants.cc
new file mode 100644
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--- /dev/null
+++ b/y2017/constants.cc
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+#include "y2017/constants.h"
+
+#include <math.h>
+#include <stdint.h>
+#include <inttypes.h>
+
+#include <map>
+
+#if __has_feature(address_sanitizer)
+#include "sanitizer/lsan_interface.h"
+#endif
+
+#include "aos/common/logging/logging.h"
+#include "aos/common/once.h"
+#include "aos/common/network/team_number.h"
+#include "aos/common/mutex.h"
+
+#ifndef M_PI
+#define M_PI 3.14159265358979323846
+#endif
+
+namespace y2017 {
+namespace constants {
+
+// ///// Mutual constants between robots. /////
+const int Values::kZeroingSampleSize;
+
+constexpr double Values::kDrivetrainEncoderRatio;
+
+namespace {
+const uint16_t kCompTeamNumber = 971;
+const uint16_t kPracticeTeamNumber = 9971;
+
+// ///// Dynamic constants. /////
+
+const Values *DoGetValuesForTeam(uint16_t team) {
+ switch (team) {
+ case 1: // for tests
+ return new Values{
+ 5.0, // drivetrain max speed
+ };
+ break;
+
+ case kCompTeamNumber:
+ return new Values{
+ 5.0, // drivetrain max speed
+ };
+ break;
+
+ case kPracticeTeamNumber:
+ return new Values{
+ 5.0, // drivetrain max speed
+ };
+ break;
+
+ default:
+ LOG(FATAL, "unknown team #%" PRIu16 "\n", team);
+ }
+}
+
+const Values *DoGetValues() {
+ uint16_t team = ::aos::network::GetTeamNumber();
+ LOG(INFO, "creating a Constants for team %" PRIu16 "\n", team);
+ return DoGetValuesForTeam(team);
+}
+
+} // namespace
+
+const Values &GetValues() {
+ static ::aos::Once<const Values> once(DoGetValues);
+ return *once.Get();
+}
+
+const Values &GetValuesForTeam(uint16_t team_number) {
+ static ::aos::Mutex mutex;
+ ::aos::MutexLocker locker(&mutex);
+
+ // IMPORTANT: This declaration has to stay after the mutex is locked to avoid
+ // race conditions.
+ static ::std::map<uint16_t, const Values *> values;
+
+ if (values.count(team_number) == 0) {
+ values[team_number] = DoGetValuesForTeam(team_number);
+#if __has_feature(address_sanitizer)
+ __lsan_ignore_object(values[team_number]);
+#endif
+ }
+ return *values[team_number];
+}
+
+} // namespace constants
+} // namespace y2017
diff --git a/y2017/constants.h b/y2017/constants.h
new file mode 100644
index 0000000..be29a2a
--- /dev/null
+++ b/y2017/constants.h
@@ -0,0 +1,41 @@
+#ifndef Y2017_CONSTANTS_H_
+#define Y2017_CONSTANTS_H_
+
+#include <stdint.h>
+
+namespace y2017 {
+namespace constants {
+
+// Has all of the numbers that change for both robots and makes it easy to
+// retrieve the values for the current one.
+
+// Everything is in SI units (volts, radians, meters, seconds, etc).
+// Some of these values are related to the conversion between raw values
+// (encoder counts, voltage, etc) to scaled units (radians, meters, etc).
+
+// This structure contains current values for all of the things that change.
+struct Values {
+ // ///// Mutual constants between robots. /////
+ // TODO(constants): Update/check these with what we're using this year.
+ static const int kZeroingSampleSize = 200;
+
+ // The ratio from the encoder shaft to the drivetrain wheels.
+ static constexpr double kDrivetrainEncoderRatio =
+ (18.0 / 36.0) /*output reduction*/ * (44.0 / 30.0) /*encoder gears*/;
+
+ // ///// Dynamic constants. /////
+ double drivetrain_max_speed;
+};
+
+// Creates (once) a Values instance for ::aos::network::GetTeamNumber() and
+// returns a reference to it.
+const Values &GetValues();
+
+// Creates Values instances for each team number it is called with and returns
+// them.
+const Values &GetValuesForTeam(uint16_t team_number);
+
+} // namespace constants
+} // namespace y2017
+
+#endif // Y2017_CONSTANTS_H_