Move ADC code into individual boards where it belongs

Change-Id: Id8c2db1166c6e07caaf7d3ccc503bade4ec198f6
diff --git a/motors/pistol_grip/controller.cc b/motors/pistol_grip/controller.cc
index 28e1503..9d8a1c8 100644
--- a/motors/pistol_grip/controller.cc
+++ b/motors/pistol_grip/controller.cc
@@ -34,6 +34,107 @@
 using ::frc971::control_loops::drivetrain::MakeIntegralHapticWheelPlant;
 using ::frc971::control_loops::drivetrain::MakeIntegralHapticWheelObserver;
 
+struct SmallAdcReadings {
+  uint16_t currents[3];
+};
+
+struct SmallInitReadings {
+  uint16_t motor0_abs;
+  uint16_t motor1_abs;
+  uint16_t wheel_abs;
+};
+
+void AdcInitSmall() {
+  AdcInitCommon();
+
+  // M0_CH0F ADC1_SE17
+  PORTA_PCR17 = PORT_PCR_MUX(0);
+
+  // M0_CH1F ADC1_SE14
+  PORTB_PCR10 = PORT_PCR_MUX(0);
+
+  // M0_CH2F ADC1_SE15
+  PORTB_PCR11 = PORT_PCR_MUX(0);
+
+  // M0_ABS ADC0_SE5b
+  PORTD_PCR1 = PORT_PCR_MUX(0);
+
+  // M1_CH0F ADC0_SE13
+  PORTB_PCR3 = PORT_PCR_MUX(0);
+
+  // M1_CH1F ADC0_SE12
+  PORTB_PCR2 = PORT_PCR_MUX(0);
+
+  // M1_CH2F ADC0_SE14
+  PORTC_PCR0 = PORT_PCR_MUX(0);
+
+  // M1_ABS ADC0_SE17
+  PORTE_PCR24 = PORT_PCR_MUX(0);
+
+  // WHEEL_ABS ADC0_SE18
+  PORTE_PCR25 = PORT_PCR_MUX(0);
+
+  // VIN ADC1_SE5B
+  PORTC_PCR9 = PORT_PCR_MUX(0);
+}
+
+SmallAdcReadings AdcReadSmall0(const DisableInterrupts &) {
+  SmallAdcReadings r;
+
+  ADC1_SC1A = 17;
+  while (!(ADC1_SC1A & ADC_SC1_COCO)) {
+  }
+  ADC1_SC1A = 14;
+  r.currents[0] = ADC1_RA;
+  while (!(ADC1_SC1A & ADC_SC1_COCO)) {
+  }
+  ADC1_SC1A = 15;
+  r.currents[1] = ADC1_RA;
+  while (!(ADC1_SC1A & ADC_SC1_COCO)) {
+  }
+  r.currents[2] = ADC1_RA;
+
+  return r;
+}
+
+SmallAdcReadings AdcReadSmall1(const DisableInterrupts &) {
+  SmallAdcReadings r;
+
+  ADC0_SC1A = 13;
+  while (!(ADC0_SC1A & ADC_SC1_COCO)) {
+  }
+  ADC0_SC1A = 12;
+  r.currents[0] = ADC0_RA;
+  while (!(ADC0_SC1A & ADC_SC1_COCO)) {
+  }
+  ADC0_SC1A = 14;
+  r.currents[1] = ADC0_RA;
+  while (!(ADC0_SC1A & ADC_SC1_COCO)) {
+  }
+  r.currents[2] = ADC0_RA;
+
+  return r;
+}
+
+SmallInitReadings AdcReadSmallInit(const DisableInterrupts &) {
+  SmallInitReadings r;
+
+  ADC0_SC1A = 5;
+  while (!(ADC0_SC1A & ADC_SC1_COCO)) {
+  }
+  ADC0_SC1A = 17;
+  r.motor0_abs = ADC0_RA;
+  while (!(ADC0_SC1A & ADC_SC1_COCO)) {
+  }
+  ADC0_SC1A = 18;
+  r.motor1_abs = ADC0_RA;
+  while (!(ADC0_SC1A & ADC_SC1_COCO)) {
+  }
+  r.wheel_abs = ADC0_RA;
+
+  return r;
+}
+
 constexpr float kHapticWheelCurrentLimit = static_cast<float>(
     ::frc971::control_loops::drivetrain::kHapticWheelCurrentLimit);
 constexpr float kHapticTriggerCurrentLimit = static_cast<float>(