Code for the motor controller
This is basically what we used in Detroit.
Change-Id: If2820d7ec5fcbc5f33b4082025027a6e969ad0e1
diff --git a/motors/peripheral/adc.h b/motors/peripheral/adc.h
new file mode 100644
index 0000000..4aee769
--- /dev/null
+++ b/motors/peripheral/adc.h
@@ -0,0 +1,22 @@
+#ifndef MOTORS_PERIPHERAL_ADC_H_
+#define MOTORS_PERIPHERAL_ADC_H_
+
+#include <stdint.h>
+
+namespace frc971 {
+namespace salsa {
+
+struct MediumAdcReadings {
+ uint16_t motor_currents[3][2];
+ uint16_t motor_current_ref;
+ uint16_t input_voltage;
+};
+
+void AdcInit();
+
+MediumAdcReadings AdcReadMedium();
+
+} // namespace salsa
+} // namespace frc971
+
+#endif // MOTORS_PERIPHERAL_ADC_H_