lots of vision stuff from Ben
diff --git a/frc971/atom_code/atom_code.gyp b/frc971/atom_code/atom_code.gyp
index d727036..1b8c9e5 100644
--- a/frc971/atom_code/atom_code.gyp
+++ b/frc971/atom_code/atom_code.gyp
@@ -10,6 +10,8 @@
'../input/input.gyp:SensorReader',
'../input/input.gyp:GyroReader',
'../input/input.gyp:AutoMode',
+ '../../vision/vision.gyp:OpenCVWorkTask',
+ '../../vision/vision.gyp:GoalMaster',
'../output/output.gyp:MotorWriter',
'../output/output.gyp:CameraServer',
'camera/camera.gyp:frc971',
diff --git a/frc971/atom_code/atom_code.gyp.orig b/frc971/atom_code/atom_code.gyp.orig
new file mode 100644
index 0000000..d727036
--- /dev/null
+++ b/frc971/atom_code/atom_code.gyp.orig
@@ -0,0 +1,28 @@
+{
+ 'targets': [
+ {
+ 'target_name': 'All',
+ 'type': 'none',
+ 'dependencies': [
+ '<(AOS)/build/aos_all.gyp:Atom',
+ '../control_loops/control_loops.gyp:DriveTrain',
+ '../input/input.gyp:JoystickReader',
+ '../input/input.gyp:SensorReader',
+ '../input/input.gyp:GyroReader',
+ '../input/input.gyp:AutoMode',
+ '../output/output.gyp:MotorWriter',
+ '../output/output.gyp:CameraServer',
+ 'camera/camera.gyp:frc971',
+ ],
+ 'copies': [
+ {
+ 'destination': '<(rsync_dir)',
+ 'files': [
+ 'scripts/aos_module.ko',
+ 'scripts/start_list.txt',
+ ],
+ },
+ ],
+ },
+ ],
+}
diff --git a/frc971/queues/CameraEnableQueue.q b/frc971/queues/CameraEnableQueue.q
new file mode 100644
index 0000000..d61a7ee
--- /dev/null
+++ b/frc971/queues/CameraEnableQueue.q
@@ -0,0 +1,7 @@
+package frc971.sensors;
+
+message CameraEnable {
+ bool enable_camera;
+};
+
+queue CameraEnable camera_enable;
diff --git a/frc971/queues/CameraTarget.q b/frc971/queues/CameraTarget.q
new file mode 100644
index 0000000..1abe65e
--- /dev/null
+++ b/frc971/queues/CameraTarget.q
@@ -0,0 +1,15 @@
+package frc971.vision;
+
+message CameraTarget {
+ double percent_azimuth_off_center;
+ double percent_elevation_off_center;
+ // todo:(pschuh) add time syntax when havith more sleep
+ uint64_t timestamp;
+};
+
+message TargetAngle {
+ double target_angle;
+};
+
+queue TargetAngle target_angle;
+queue CameraTarget targets;
diff --git a/frc971/queues/PhotoSensor.q b/frc971/queues/PhotoSensor.q
new file mode 100644
index 0000000..383bc25
--- /dev/null
+++ b/frc971/queues/PhotoSensor.q
@@ -0,0 +1,10 @@
+package frc971.sensors;
+
+message BlockedSensor {
+ bool blocked;
+};
+
+queue BlockedSensor bottom_ball_sensor;
+queue BlockedSensor top_ball_sensor;
+queue BlockedSensor left_bump;
+queue BlockedSensor right_bump;
diff --git a/frc971/queues/queues.gyp b/frc971/queues/queues.gyp
index 70ed873..6accfd8 100644
--- a/frc971/queues/queues.gyp
+++ b/frc971/queues/queues.gyp
@@ -1,7 +1,10 @@
{
'variables': {
'queue_files': [
+ 'CameraEnableQueue.q',
'GyroAngle.q',
+ 'CameraTarget.q',
+ 'PhotoSensor.q',
'Piston.q',
]
},