Add code for a practice defense bot
We want to use the 2nd robot drivetrain as a defense bot to use in drive
practice, this commit adds the folder for that robot.
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: I8d379c8793dffe3248f1ecef83fe18040c7e0e77
diff --git a/y2024_defense/rockpi/imu_main.cc b/y2024_defense/rockpi/imu_main.cc
new file mode 100644
index 0000000..8ab51fe
--- /dev/null
+++ b/y2024_defense/rockpi/imu_main.cc
@@ -0,0 +1,26 @@
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "aos/realtime.h"
+#include "frc971/imu_reader/imu.h"
+#include "y2024_defense/constants.h"
+
+DEFINE_string(config, "aos_config.json", "Path to the config file to use.");
+
+int main(int argc, char *argv[]) {
+ aos::InitGoogle(&argc, &argv);
+
+ aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig(FLAGS_config);
+
+ aos::ShmEventLoop event_loop(&config.message());
+ frc971::imu::Imu imu(
+ &event_loop,
+ y2024_defense::constants::Values::DrivetrainEncoderToMeters(1));
+
+ event_loop.SetRuntimeAffinity(aos::MakeCpusetFromCpus({0}));
+ event_loop.SetRuntimeRealtimePriority(55);
+
+ event_loop.Run();
+
+ return 0;
+}