Add y2023 folder
2022 Bot specific things were removed
Change-Id: I6563d477a65bf2eae5d39933003742bd372cf82e
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Signed-off-by: Xander Yee <xander.yee@gmail.com>
diff --git a/y2023/joystick_reader.cc b/y2023/joystick_reader.cc
new file mode 100644
index 0000000..a1a42f4
--- /dev/null
+++ b/y2023/joystick_reader.cc
@@ -0,0 +1,99 @@
+#include <unistd.h>
+
+#include <cmath>
+#include <cstdio>
+#include <cstring>
+
+#include "aos/actions/actions.h"
+#include "aos/init.h"
+#include "aos/logging/logging.h"
+#include "aos/network/team_number.h"
+#include "aos/util/log_interval.h"
+#include "frc971/autonomous/base_autonomous_actor.h"
+#include "frc971/control_loops/drivetrain/localizer_generated.h"
+#include "frc971/control_loops/profiled_subsystem_generated.h"
+#include "frc971/input/action_joystick_input.h"
+#include "frc971/input/driver_station_data.h"
+#include "frc971/input/drivetrain_input.h"
+#include "frc971/input/joystick_input.h"
+#include "frc971/zeroing/wrap.h"
+#include "y2023/constants.h"
+#include "y2023/control_loops/drivetrain/drivetrain_base.h"
+#include "y2023/control_loops/superstructure/superstructure_goal_generated.h"
+#include "y2023/control_loops/superstructure/superstructure_status_generated.h"
+
+using frc971::CreateProfileParameters;
+using frc971::control_loops::CreateStaticZeroingSingleDOFProfiledSubsystemGoal;
+using frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal;
+using frc971::input::driver_station::ButtonLocation;
+using frc971::input::driver_station::ControlBit;
+using frc971::input::driver_station::JoystickAxis;
+using frc971::input::driver_station::POVLocation;
+
+namespace y2023 {
+namespace input {
+namespace joysticks {
+
+namespace superstructure = y2023::control_loops::superstructure;
+
+class Reader : public ::frc971::input::ActionJoystickInput {
+ public:
+ Reader(::aos::EventLoop *event_loop)
+ : ::frc971::input::ActionJoystickInput(
+ event_loop,
+ ::y2023::control_loops::drivetrain::GetDrivetrainConfig(),
+ ::frc971::input::DrivetrainInputReader::InputType::kPistol, {}),
+ superstructure_goal_sender_(
+ event_loop->MakeSender<superstructure::Goal>("/superstructure")),
+ superstructure_status_fetcher_(
+ event_loop->MakeFetcher<superstructure::Status>(
+ "/superstructure")) {}
+
+ void AutoEnded() override { AOS_LOG(INFO, "Auto ended.\n"); }
+
+ void HandleTeleop(
+ const ::frc971::input::driver_station::Data &data) override {
+ superstructure_status_fetcher_.Fetch();
+ if (!superstructure_status_fetcher_.get()) {
+ AOS_LOG(ERROR, "Got no superstructure status message.\n");
+ return;
+ }
+
+ (void)data;
+ // TODO(Xander): Use driverstaion data to provide instructions.
+ {
+ auto builder = superstructure_goal_sender_.MakeBuilder();
+
+ superstructure::Goal::Builder superstructure_goal_builder =
+ builder.MakeBuilder<superstructure::Goal>();
+
+ if (builder.Send(superstructure_goal_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
+ AOS_LOG(ERROR, "Sending superstructure goal failed.\n");
+ }
+ }
+ }
+
+ private:
+ ::aos::Sender<superstructure::Goal> superstructure_goal_sender_;
+
+ ::aos::Fetcher<superstructure::Status> superstructure_status_fetcher_;
+};
+
+} // namespace joysticks
+} // namespace input
+} // namespace y2023
+
+int main(int argc, char **argv) {
+ ::aos::InitGoogle(&argc, &argv);
+
+ aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig("aos_config.json");
+
+ ::aos::ShmEventLoop event_loop(&config.message());
+ ::y2023::input::joysticks::Reader reader(&event_loop);
+
+ event_loop.Run();
+
+ return 0;
+}