Modify some constants for third robot.
- Fix drivetrain_translate.
- Fix crio build.sh.
- Add some snazzy new regexes (as per Brian's suggestion), to
aos/build/build.sh, in order to shorten one of the conditionals.
- Get rid of some old, useless files.
diff --git a/aos/atom_code/input/JoystickInput.cpp b/aos/atom_code/input/JoystickInput.cpp
deleted file mode 100644
index 2c3b3b9..0000000
--- a/aos/atom_code/input/JoystickInput.cpp
+++ /dev/null
@@ -1,73 +0,0 @@
-#include "aos/atom_code/input/JoystickInput.h"
-
-#include "aos/common/Configuration.h"
-#include "aos/common/network/ReceiveSocket.h"
-#include "aos/common/messages/RobotState.q.h"
-
-namespace aos {
-
-void JoystickInput::SetupButtons() {
- for (int i = 0; i < 4; ++i) {
- old_buttons[i] = buttons[i];
- }
- buttons[0] = control_data_.stick0Buttons;
- buttons[1] = control_data_.stick1Buttons;
- buttons[2] = control_data_.stick2Buttons;
- buttons[3] = control_data_.stick3Buttons;
-
- // Put the ENABLED, AUTONOMOUS, and FMS_ATTACHED values into unused bits in
- // the values for joystick 0 so that PosEdge and NegEdge can be used with
- // them.
- // Windows only supports 12 buttons, so we know there will never be any more.
- // Not using MASK because it doesn't make it any cleaner.
- buttons[0] |= (control_data_.enabled << (ENABLED - 9)) |
- (control_data_.autonomous << (AUTONOMOUS - 9)) |
- (control_data_.fmsAttached << (FMS_ATTACHED - 9));
-
- for (int j = 0; j < 4; ++j) {
- for (int k = 1; k <= 12; ++k) {
- if (PosEdge(j, k)) {
- LOG(INFO, "PosEdge(%d, %d)\n", j, k);
- }
- if (NegEdge(j, k)) {
- LOG(INFO, "NegEdge(%d, %d)\n", j, k);
- }
- }
- }
- if (PosEdge(0, ENABLED)) LOG(INFO, "PosEdge(ENABLED)\n");
- if (NegEdge(0, ENABLED)) LOG(INFO, "NegEdge(ENABLED)\n");
- if (PosEdge(0, AUTONOMOUS)) LOG(INFO, "PosEdge(AUTONOMOUS)\n");
- if (NegEdge(0, AUTONOMOUS)) LOG(INFO, "NegEdge(AUTONOMOUS)\n");
- if (PosEdge(0, FMS_ATTACHED)) LOG(INFO, "PosEdge(FMS_ATTACHED)\n");
- if (NegEdge(0, FMS_ATTACHED)) LOG(INFO, "NegEdge(FMS_ATTACHED)\n");
-}
-
-void JoystickInput::Run() {
- ReceiveSocket sock(NetworkPort::kDS);
- while (true) {
- if (sock.Receive(&control_data_, sizeof(control_data_)) !=
- sizeof(control_data_)) {
- LOG(WARNING, "socket receive failed\n");
- continue;
- }
- SetupButtons();
- if (!robot_state.MakeWithBuilder()
- .enabled(Pressed(0, ENABLED))
- .autonomous(Pressed(0, AUTONOMOUS))
- .team_id(ntohs(control_data_.teamID))
- .Send()) {
- LOG(WARNING, "sending robot_state failed\n");
- }
- if (robot_state.FetchLatest()) {
- char state[1024];
- robot_state->Print(state, sizeof(state));
- LOG(DEBUG, "robot_state={%s}\n", state);
- } else {
- LOG(WARNING, "fetching robot_state failed\n");
- }
- RunIteration();
- }
-}
-
-} // namespace aos
-
diff --git a/aos/atom_code/input/JoystickInput.h b/aos/atom_code/input/JoystickInput.h
deleted file mode 100644
index 313ad0a..0000000
--- a/aos/atom_code/input/JoystickInput.h
+++ /dev/null
@@ -1,46 +0,0 @@
-#ifndef AOS_INPUT_JOYSTICK_INPUT_H_
-#define AOS_INPUT_JOYSTICK_INPUT_H_
-
-#include "FRCComm.h"
-
-namespace aos {
-
-// Class for implementing atom code that reads the joystick values from the
-// cRIO.
-// Designed for a subclass that implements RunIteration to be instantiated and
-// Runed.
-// TODO(brians): rewrite this with OO buttons/fms state etc
-class JoystickInput {
- private:
- uint16_t buttons[4], old_buttons[4];
- inline uint16_t MASK(int button) {
- return 1 << ((button > 8) ? (button - 9) : (button + 7));
- }
- void SetupButtons();
- protected:
- FRCCommonControlData control_data_;
-
- // Constants that retrieve data when used with joystick 0.
- static const int ENABLED = 13;
- static const int AUTONOMOUS = 14;
- static const int FMS_ATTACHED = 15;
- bool Pressed(int stick, int button) {
- return buttons[stick] & MASK(button);
- }
- bool PosEdge(int stick, int button) {
- return !(old_buttons[stick] & MASK(button)) && (buttons[stick] & MASK(button));
- }
- bool NegEdge(int stick, int button) {
- return (old_buttons[stick] & MASK(button)) && !(buttons[stick] & MASK(button));
- }
-
- virtual void RunIteration() = 0;
- public:
- // Enters an infinite loop that reads values and calls RunIteration.
- void Run();
-};
-
-} // namespace aos
-
-#endif
-
diff --git a/aos/build/build.sh b/aos/build/build.sh
index df7e2fb..e0ff434 100755
--- a/aos/build/build.sh
+++ b/aos/build/build.sh
@@ -13,7 +13,7 @@
ACTION=$5
shift 4
-shift || true # We might not have a 4th argument if ACTION is empty.
+shift || true # We might not have a 5th argument if ACTION is empty.
export WIND_BASE=${WIND_BASE:-"/usr/local/powerpc-wrs-vxworks/wind_base"}
@@ -72,7 +72,7 @@
fi
${NINJA} -C ${OUTDIR}/Default ${NINJA_ACTION} "$@"
if [[ ${ACTION} == deploy || ${ACTION} == redeploy ]]; then
- [ ${PLATFORM} == atom ] || [ ${PLATFORM} == bot3_atom] && \
+ [[ ${PLATFORM} =~ .*atom ]] && \
rsync --progress -c -r \
${OUTDIR}/Default/outputs/* \
driver@`${AOS}/build/get_ip fitpc`:/home/driver/robot_code/bin