Adding y2018 joystick reader
Change-Id: I28611cb498e250e9a019eb2fb71f54afda6a4370
diff --git a/y2018/BUILD b/y2018/BUILD
new file mode 100644
index 0000000..d267b52
--- /dev/null
+++ b/y2018/BUILD
@@ -0,0 +1,47 @@
+load('/aos/downloader/downloader', 'aos_downloader')
+
+
+aos_downloader(
+ name = 'download',
+ start_srcs = [
+ ':joystick_reader',
+ '//aos:prime_start_binaries',
+ '//y2018/control_loops/drivetrain:drivetrain',
+ ],
+ srcs = [
+ '//aos:prime_binaries',
+ ],
+ restricted_to = ['//tools:roborio'],
+)
+
+aos_downloader(
+ name = 'download_stripped',
+ start_srcs = [
+ ':joystick_reader.stripped',
+ '//aos:prime_start_binaries_stripped',
+ '//y2018/control_loops/drivetrain:drivetrain.stripped',
+ ],
+ srcs = [
+ '//aos:prime_binaries_stripped',
+ ],
+ restricted_to = ['//tools:roborio'],
+)
+
+cc_binary(
+ name = 'joystick_reader',
+ srcs = [
+ 'joystick_reader.cc',
+ ],
+ deps = [
+ '//aos/common/actions:action_lib',
+ '//aos/common/logging',
+ '//aos/common/util:log_interval',
+ '//aos/common:time',
+ '//aos/input:joystick_input',
+ '//aos/input:drivetrain_input',
+ '//aos/linux_code:init',
+ '//frc971/autonomous:auto_queue',
+ '//frc971/control_loops/drivetrain:drivetrain_queue',
+ '//y2018/control_loops/drivetrain:drivetrain_base',
+ ],
+)
diff --git a/y2018/joystick_reader.cc b/y2018/joystick_reader.cc
new file mode 100644
index 0000000..5e4adf7
--- /dev/null
+++ b/y2018/joystick_reader.cc
@@ -0,0 +1,98 @@
+#include <math.h>
+#include <stdio.h>
+#include <string.h>
+#include <unistd.h>
+
+#include "aos/common/actions/actions.h"
+#include "aos/common/input/driver_station_data.h"
+#include "aos/common/logging/logging.h"
+#include "aos/common/time.h"
+#include "aos/common/util/log_interval.h"
+#include "aos/input/drivetrain_input.h"
+#include "aos/input/joystick_input.h"
+#include "aos/linux_code/init.h"
+#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "y2018/control_loops/drivetrain/drivetrain_base.h"
+
+using ::frc971::control_loops::drivetrain_queue;
+
+using ::aos::input::driver_station::ButtonLocation;
+using ::aos::input::driver_station::ControlBit;
+using ::aos::input::driver_station::JoystickAxis;
+using ::aos::input::driver_station::POVLocation;
+using ::aos::input::DrivetrainInputReader;
+
+namespace y2018 {
+namespace input {
+namespace joysticks {
+
+std::unique_ptr<DrivetrainInputReader> drivetrain_input_reader_;
+
+class Reader : public ::aos::input::JoystickInput {
+ public:
+ Reader() {
+ drivetrain_input_reader_ = DrivetrainInputReader::Make(
+ DrivetrainInputReader::InputType::kSteeringWheel,
+ ::y2018::control_loops::drivetrain::GetDrivetrainConfig());
+ }
+
+ void RunIteration(const ::aos::input::driver_station::Data &data) override {
+ bool last_auto_running = auto_running_;
+ auto_running_ = data.GetControlBit(ControlBit::kAutonomous) &&
+ data.GetControlBit(ControlBit::kEnabled);
+ if (auto_running_ != last_auto_running) {
+ if (auto_running_) {
+ StartAuto();
+ } else {
+ StopAuto();
+ }
+ }
+
+ if (!auto_running_) {
+ HandleDrivetrain(data);
+ HandleTeleop(data);
+ }
+
+ // Process any pending actions.
+ action_queue_.Tick();
+ was_running_ = action_queue_.Running();
+ }
+
+ void HandleDrivetrain(const ::aos::input::driver_station::Data &data) {
+ drivetrain_input_reader_->HandleDrivetrain(data);
+ robot_velocity_ = drivetrain_input_reader_->robot_velocity();
+ }
+
+ void HandleTeleop(const ::aos::input::driver_station::Data &data) {
+ if (!data.GetControlBit(ControlBit::kEnabled)) {
+ action_queue_.CancelAllActions();
+ LOG(DEBUG, "Canceling\n");
+ }
+ }
+
+ private:
+ void StartAuto() { LOG(INFO, "Starting auto mode\n"); }
+
+ void StopAuto() {
+ LOG(INFO, "Stopping auto mode\n");
+ action_queue_.CancelAllActions();
+ }
+
+ bool was_running_ = false;
+ bool auto_running_ = false;
+
+ double robot_velocity_ = 0.0;
+
+ ::aos::common::actions::ActionQueue action_queue_;
+};
+
+} // namespace joysticks
+} // namespace input
+} // namespace y2018
+
+int main() {
+ ::aos::Init(-1);
+ ::y2018::input::joysticks::Reader reader;
+ reader.Run();
+ ::aos::Cleanup();
+}