commit 9c10b2a775b89a647a60fd100c77719dfc52065e
author Ravago Jones <ravagojones@gmail.com> Mon Feb 06 12:41:59 2023 -0800
committer Austin Schuh <austin.linux@gmail.com> Thu Feb 23 23:24:52 2023 -0800
tree 777704be893165926c68ff28ddb8572095f62ab5
parent acc2774a07fa91b52a6e11a124304581147db9ab

Add time of flight controller firmware

The tof controller uses 2 lidar sensors to estimate the center of the held cone
in the end effector and communicates it back to the roborio over pwm so that
we can compensate.

This change also vendors in ST's library for the VL53L1X and adds a
platform specific i2c implementation for the raspberry pi pico.

Signed-off-by: Ravago Jones <ravagojones@gmail.com>
Change-Id: Id05c3b539df9c5a1ee4591e0abaf0a07df85674a

WORKSPACE

diff --git a/WORKSPACE b/WORKSPACE
index 64f2dee..a4d4406 100644
--- a/WORKSPACE
+++ b/WORKSPACE
@@ -1392,3 +1392,15 @@
     url =
         "https://www.frc971.org/Build-Dependencies/foxglove-d6b00825.tar.gz",
 )
+
+#
+# https://www.st.com/en/embedded-software/stsw-img009.html#overview
+http_archive(
+    name = "vl53l1x_ultra_lite_driver_api",
+    build_file = "//third_party/vl53l1x:vl53l1x.BUILD",
+    patch_args = ["-p1"],
+    patches = ["//third_party/vl53l1x:vl53l1x.patch"],
+    sha256 = "06a66254ab7a8b061f93ff0f65abb6088c3ea50335475bb6ac11087beb65d174",
+    strip_prefix = "en.STSW-IMG009_v3.5.2/API",
+    url = "https://www.frc971.org/Build-Dependencies/en.STSW-IMG009.zip",
+)