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>
diff --git a/y2022/localizer/BUILD b/y2022/localizer/BUILD
index 1d45516..e5c054b 100644
--- a/y2022/localizer/BUILD
+++ b/y2022/localizer/BUILD
@@ -38,12 +38,13 @@
"localizer_status.fbs",
],
gen_reflections = True,
- includes = [
- "//frc971/control_loops:control_loops_fbs_includes",
- "//frc971/control_loops/drivetrain:drivetrain_status_fbs_includes",
- ],
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
+ deps = [
+ "//frc971/control_loops:control_loops_fbs",
+ "//frc971/control_loops/drivetrain:drivetrain_status_fbs",
+ "//frc971/imu_reader:imu_failures_fbs",
+ ],
)
flatbuffer_ts_library(
@@ -53,6 +54,7 @@
deps = [
"//frc971/control_loops:control_loops_ts_fbs",
"//frc971/control_loops/drivetrain:drivetrain_status_ts_fbs",
+ "//frc971/imu_reader:imu_failures_ts_fbs",
],
)
@@ -106,12 +108,11 @@
"//frc971/control_loops/drivetrain:drivetrain_status_fbs",
"//frc971/control_loops/drivetrain:improved_down_estimator",
"//frc971/control_loops/drivetrain:localizer_fbs",
+ "//frc971/imu_reader:imu_watcher",
"//frc971/input:joystick_state_fbs",
"//frc971/vision:calibration_fbs",
"//frc971/wpilib:imu_batch_fbs",
"//frc971/wpilib:imu_fbs",
- "//frc971/zeroing:imu_zeroer",
- "//frc971/zeroing:wrap",
"//y2022:constants",
"//y2022/control_loops/superstructure:superstructure_status_fbs",
"//y2022/vision:target_estimate_fbs",