commit 9f2f53cce6f12359b1d863796156582c0f0d5bfb
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Sun Feb 19 14:08:18 2023 -0800
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Mon Feb 20 17:55:34 2023 -0800
tree 1e0bbf2723103496a02514717a7681e484f676ce
parent 647eb0c3fdecbe2388350b74204828ba6935e4a9

Make ImuWatcher class for handling pico idiosyncracies

This provides a class to consistently handle the IMUValuesBatch coming
from the imu process on a pi.

Change-Id: Id2cdeb23fdd0a3e1c2bd01219678d957906112fa
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

frc971/imu_reader/BUILD

diff --git a/frc971/imu_reader/BUILD b/frc971/imu_reader/BUILD
index 7d424c4..4825900 100644
--- a/frc971/imu_reader/BUILD
+++ b/frc971/imu_reader/BUILD
@@ -1,3 +1,6 @@
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
+load("@com_github_google_flatbuffers//:typescript.bzl", "flatbuffer_ts_library")
+
 cc_library(
     name = "imu",
     srcs = [
@@ -14,8 +17,38 @@
         "//aos/util:crc32",
         "//frc971/wpilib:imu_batch_fbs",
         "//frc971/wpilib:imu_fbs",
-        "//y2022:constants",
         "@com_github_google_glog//:glog",
         "@com_google_absl//absl/types:span",
     ],
 )
+
+flatbuffer_cc_library(
+    name = "imu_failures_fbs",
+    srcs = [
+        "imu_failures.fbs",
+    ],
+    visibility = ["//visibility:public"],
+)
+
+flatbuffer_ts_library(
+    name = "imu_failures_ts_fbs",
+    srcs = [
+        "imu_failures.fbs",
+    ],
+    visibility = ["//visibility:public"],
+)
+
+cc_library(
+    name = "imu_watcher",
+    srcs = ["imu_watcher.cc"],
+    hdrs = ["imu_watcher.h"],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":imu_failures_fbs",
+        "//aos/events:event_loop",
+        "//frc971/control_loops/drivetrain:drivetrain_config",
+        "//frc971/wpilib:imu_batch_fbs",
+        "//frc971/zeroing:imu_zeroer",
+        "//frc971/zeroing:wrap",
+    ],
+)