Merge "Convert extrinsics_calibration to an observer model"
diff --git a/.bazelrc b/.bazelrc
index 3b5ad1f..8290da4 100644
--- a/.bazelrc
+++ b/.bazelrc
@@ -17,12 +17,6 @@
# Use the malloc we want.
build --custom_malloc=//tools/cpp:malloc
-# Use our hermetic Python runtime.
-build --python_top=//tools/python:runtime
-build --noincompatible_use_python_toolchains
-build --noincompatible_py3_is_default
-build --noincompatible_py2_outputs_are_suffixed
-
# Shortcuts for selecting the target platform.
build:k8 --platforms=//tools/platforms:linux_x86
build:roborio --platforms=//tools/platforms:linux_roborio
diff --git a/WORKSPACE b/WORKSPACE
index 23c4580..a464a6d 100644
--- a/WORKSPACE
+++ b/WORKSPACE
@@ -125,6 +125,8 @@
"//tools/cpp:cc-toolchain-cortex-m4f",
# Find a good way to select between these two M4F toolchains.
#"//tools/cpp:cc-toolchain-cortex-m4f-k22",
+ "//tools/python:python_toolchain",
+ "//tools/go:noop_go_toolchain",
)
http_archive(
@@ -230,8 +232,9 @@
# TODO: add frc971.org URL
http_archive(
name = "rules_python",
- sha256 = "778197e26c5fbeb07ac2a2c5ae405b30f6cb7ad1f5510ea6fdac03bded96cc6f",
- url = "https://github.com/bazelbuild/rules_python/releases/download/0.2.0/rules_python-0.2.0.tar.gz",
+ sha256 = "895fa3b03898d7708eb50ed34dcfb71c07866433df6912a6ff4f4fb473048f99",
+ strip_prefix = "rules_python-2b1d6beb4d5d8f59d629597e30e9aa519182d9a9",
+ url = "https://github.com/bazelbuild/rules_python/archive/2b1d6beb4d5d8f59d629597e30e9aa519182d9a9.tar.gz",
)
new_local_repository(
@@ -871,3 +874,18 @@
name = "snappy",
path = "third_party/snappy",
)
+
+http_archive(
+ name = "io_bazel_rules_go",
+ sha256 = "2b1641428dff9018f9e85c0384f03ec6c10660d935b750e3fa1492a281a53b0f",
+ urls = [
+ "https://www.frc971.org/Build-Dependencies/rules_go-v0.29.0.zip",
+ "https://github.com/bazelbuild/rules_go/releases/download/v0.29.0/rules_go-v0.29.0.zip",
+ ],
+)
+
+load("@io_bazel_rules_go//go:deps.bzl", "go_register_toolchains", "go_rules_dependencies")
+
+go_rules_dependencies()
+
+go_register_toolchains(version = "1.17.1")
diff --git a/aos/BUILD b/aos/BUILD
index 9049e08..8a8a19a 100644
--- a/aos/BUILD
+++ b/aos/BUILD
@@ -409,6 +409,7 @@
deps = [
"//aos:macros",
"//aos/containers:resizeable_buffer",
+ "//aos/util:file",
"@com_github_google_flatbuffers//:flatbuffers",
"@com_github_google_glog//:glog",
"@com_google_absl//absl/strings",
@@ -581,6 +582,7 @@
":json_to_flatbuffer",
":json_to_flatbuffer_fbs",
"//aos/testing:googletest",
+ "//aos/testing:tmpdir",
],
)
diff --git a/aos/actions/action_test.cc b/aos/actions/action_test.cc
index 1c8e506..e7a3c53 100644
--- a/aos/actions/action_test.cc
+++ b/aos/actions/action_test.cc
@@ -1,8 +1,8 @@
#include <unistd.h>
+#include <chrono>
#include <memory>
#include <thread>
-#include <chrono>
#include "gtest/gtest.h"
@@ -48,8 +48,8 @@
typedef TypedActionFactory<actions::TestActionGoal> Factory;
explicit TestActorNOP(::aos::EventLoop *event_loop)
- : actions::ActorBase<actions::TestActionGoal>(
- event_loop, "/test_action") {}
+ : actions::ActorBase<actions::TestActionGoal>(event_loop,
+ "/test_action") {}
static Factory MakeFactory(::aos::EventLoop *event_loop) {
return Factory(event_loop, "/test_action");
@@ -85,8 +85,8 @@
typedef TypedActionFactory<actions::TestAction2Goal> Factory;
explicit TestActor2Nop(::aos::EventLoop *event_loop)
- : actions::ActorBase<actions::TestAction2Goal>(
- event_loop, "/test_action2") {}
+ : actions::ActorBase<actions::TestAction2Goal>(event_loop,
+ "/test_action2") {}
static Factory MakeFactory(::aos::EventLoop *event_loop) {
return Factory(event_loop, "/test_action2");
@@ -146,14 +146,13 @@
ActionQueue action_queue;
{
- ::aos::Sender<TestActionGoal>::Builder builder =
- goal_sender.MakeBuilder();
+ ::aos::Sender<TestActionGoal>::Builder builder = goal_sender.MakeBuilder();
TestActionGoal::Builder goal_builder =
builder.MakeBuilder<TestActionGoal>();
goal_builder.add_run(971);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ builder.CheckOk(builder.Send(goal_builder.Finish()));
}
TestActorNOP nop_act(actor1_event_loop_.get());
diff --git a/aos/actions/actions.h b/aos/actions/actions.h
index 65dc170..9a62483 100644
--- a/aos/actions/actions.h
+++ b/aos/actions/actions.h
@@ -106,8 +106,8 @@
public:
// A convenient way to refer to the type of our goals.
typedef T GoalType;
- typedef typename std::remove_reference<
- decltype(*static_cast<GoalType *>(nullptr)->params())>::type ParamType;
+ typedef typename std::remove_reference<decltype(
+ *static_cast<GoalType *>(nullptr)->params())>::type ParamType;
TypedAction(typename ::aos::Fetcher<Status> *status_fetcher,
typename ::aos::Sender<GoalType> *goal_sender,
@@ -194,8 +194,8 @@
class TypedActionFactory {
public:
typedef T GoalType;
- typedef typename std::remove_reference<
- decltype(*static_cast<GoalType *>(nullptr)->params())>::type ParamType;
+ typedef typename std::remove_reference<decltype(
+ *static_cast<GoalType *>(nullptr)->params())>::type ParamType;
explicit TypedActionFactory(::aos::EventLoop *event_loop,
const ::std::string &name)
@@ -258,7 +258,7 @@
typename GoalType::Builder goal_builder =
builder.template MakeBuilder<GoalType>();
goal_builder.add_run(0);
- builder.Send(goal_builder.Finish());
+ builder.CheckOk(builder.Send(goal_builder.Finish()));
}
sent_cancel_ = true;
}
@@ -372,7 +372,7 @@
goal_builder.add_run(run_value_);
sent_started_ = true;
- if (!builder.Send(goal_builder.Finish())) {
+ if (builder.Send(goal_builder.Finish()) != RawSender::Error::kOk) {
AOS_LOG(ERROR,
"sending goal for action %" PRIx32 " on queue %.*s failed\n",
run_value_,
diff --git a/aos/actions/actor.h b/aos/actions/actor.h
index a000257..33e70f2 100644
--- a/aos/actions/actor.h
+++ b/aos/actions/actor.h
@@ -20,8 +20,12 @@
class ActorBase {
public:
typedef T GoalType;
- typedef typename std::remove_reference<
- decltype(*static_cast<GoalType *>(nullptr)->params())>::type ParamType;
+ typedef typename std::remove_reference<decltype(
+ *static_cast<GoalType *>(nullptr)->params())>::type ParamType;
+
+ // Commonly used offset for autonomous phased loops
+ static constexpr monotonic_clock::duration kLoopOffset =
+ frc971::controls::kLoopFrequency / 2;
ActorBase(::aos::EventLoop *event_loop, const ::std::string &name)
: event_loop_(event_loop),
@@ -40,9 +44,9 @@
status_builder.add_running(0);
status_builder.add_last_running(0);
status_builder.add_success(!abort_);
- if (!builder.Send(status_builder.Finish())) {
- AOS_LOG(ERROR, "Failed to send the status.\n");
- }
+ CHECK_EQ(builder.Send(status_builder.Finish()),
+ aos::RawSender::Error::kOk)
+ << "Failed to send initial status";
});
}
@@ -127,7 +131,8 @@
status_builder.add_running(0);
status_builder.add_last_running(0);
status_builder.add_success(!abort_);
- if (!builder.Send(status_builder.Finish())) {
+ if (builder.Send(status_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Failed to send the status.\n");
}
break;
@@ -144,7 +149,8 @@
status_builder.add_running(running_id);
status_builder.add_last_running(0);
status_builder.add_success(!abort_);
- if (!builder.Send(status_builder.Finish())) {
+ if (builder.Send(status_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Failed to send the status.\n");
}
}
@@ -161,7 +167,8 @@
status_builder.add_last_running(running_id);
status_builder.add_success(!abort_);
- if (!builder.Send(status_builder.Finish())) {
+ if (builder.Send(status_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Failed to send the status.\n");
} else {
AOS_LOG(INFO, "Sending Done status %" PRIx32 "\n", running_id);
@@ -186,7 +193,7 @@
::aos::monotonic_clock::time_point end_time) {
::aos::time::PhasedLoop phased_loop(::frc971::controls::kLoopFrequency,
event_loop_->monotonic_now(),
- ::std::chrono::milliseconds(5) / 2);
+ kLoopOffset);
while (!done_condition()) {
if (ShouldCancel() || abort_) {
diff --git a/aos/aos_send.cc b/aos/aos_send.cc
index 91ffb1c..ffc7957 100644
--- a/aos/aos_send.cc
+++ b/aos/aos_send.cc
@@ -44,7 +44,7 @@
fbb.ForceDefaults(true);
fbb.Finish(aos::JsonToFlatbuffer(std::string_view(argv[1]), channel->schema(),
&fbb));
- sender->Send(fbb.GetSize());
+ sender->CheckOk(sender->Send(fbb.GetSize()));
return 0;
}
diff --git a/aos/configuration.cc b/aos/configuration.cc
index bc7182c..580c2e0 100644
--- a/aos/configuration.cc
+++ b/aos/configuration.cc
@@ -610,6 +610,9 @@
auto result = applications.insert(RecursiveCopyFlatBuffer(a));
if (!result.second) {
+ if (a->has_args()) {
+ result.first->mutable_message()->clear_args();
+ }
*result.first =
MergeFlatBuffers(*result.first, RecursiveCopyFlatBuffer(a));
}
diff --git a/aos/events/aos_logging.cc b/aos/events/aos_logging.cc
index bc4513b..5ec7d3d 100644
--- a/aos/events/aos_logging.cc
+++ b/aos/events/aos_logging.cc
@@ -22,8 +22,11 @@
static_cast<::aos::logging::Level>(message_data.level));
builder.add_source_pid(message_data.source);
builder.add_name(name_str);
+ if (send_failure_counter_.failures() > 0) {
+ builder.add_send_failures(send_failure_counter_.failures());
+ }
- message.Send(builder.Finish());
+ send_failure_counter_.Count(message.Send(builder.Finish()));
},
name);
}
diff --git a/aos/events/aos_logging.h b/aos/events/aos_logging.h
index efb2b25..eca07bf 100644
--- a/aos/events/aos_logging.h
+++ b/aos/events/aos_logging.h
@@ -22,6 +22,7 @@
private:
Sender<logging::LogMessageFbs> log_sender_;
std::shared_ptr<logging::LogImplementation> implementation_;
+ SendFailureCounter send_failure_counter_;
};
} // namespace aos
diff --git a/aos/events/event_loop.cc b/aos/events/event_loop.cc
index 51341bb..67c4472 100644
--- a/aos/events/event_loop.cc
+++ b/aos/events/event_loop.cc
@@ -19,8 +19,28 @@
<< configuration::CleanedChannelToString(channel) << ".";
}
}
+
+std::string_view ErrorToString(const RawSender::Error err) {
+ switch (err) {
+ case RawSender::Error::kOk:
+ return "RawSender::Error::kOk";
+ case RawSender::Error::kMessagesSentTooFast:
+ return "RawSender::Error::kMessagesSentTooFast";
+ }
+ LOG(FATAL) << "Unknown error given with code " << static_cast<int>(err);
+}
} // namespace
+std::ostream &operator<<(std::ostream &os, const RawSender::Error err) {
+ os << ErrorToString(err);
+ return os;
+}
+
+void RawSender::CheckOk(const RawSender::Error err) {
+ CHECK_EQ(err, Error::kOk) << "Messages were sent too fast on channel: "
+ << configuration::CleanedChannelToString(channel_);
+}
+
RawSender::RawSender(EventLoop *event_loop, const Channel *channel)
: event_loop_(event_loop),
channel_(channel),
@@ -31,11 +51,10 @@
RawSender::~RawSender() { event_loop_->DeleteSender(this); }
-bool RawSender::DoSend(const SharedSpan data,
- monotonic_clock::time_point monotonic_remote_time,
- realtime_clock::time_point realtime_remote_time,
- uint32_t remote_queue_index,
- const UUID &source_boot_uuid) {
+RawSender::Error RawSender::DoSend(
+ const SharedSpan data, monotonic_clock::time_point monotonic_remote_time,
+ realtime_clock::time_point realtime_remote_time,
+ uint32_t remote_queue_index, const UUID &source_boot_uuid) {
return DoSend(data->data(), data->size(), monotonic_remote_time,
realtime_remote_time, remote_queue_index, source_boot_uuid);
}
@@ -261,7 +280,13 @@
for (RawFetcher *fetcher : fetchers_) {
fetcher->timing_.ResetTimingReport();
}
- timing_report_sender_->Send(timing_report_.span().size());
+ // TODO(milind): If we fail to send, we don't want to reset the timing report.
+ // We would need to move the reset after the send, and then find the correct
+ // timing report and set the reports with it instead of letting the sender do
+ // this. If we failed to send, we wouldn't reset or set the reports, so they
+ // can accumalate until the next send.
+ timing_report_failure_counter_.Count(
+ timing_report_sender_->Send(timing_report_.span().size()));
}
void EventLoop::UpdateTimingReport() {
@@ -421,6 +446,7 @@
if (fetcher_offsets.size() > 0) {
report_builder.add_fetchers(fetchers_offset);
}
+ report_builder.add_send_failures(timing_report_failure_counter_.failures());
fbb.Finish(report_builder.Finish());
timing_report_ = FlatbufferDetachedBuffer<timing::Report>(fbb.Release());
diff --git a/aos/events/event_loop.fbs b/aos/events/event_loop.fbs
index 1434c4e..051f575 100644
--- a/aos/events/event_loop.fbs
+++ b/aos/events/event_loop.fbs
@@ -83,6 +83,9 @@
fetchers:[Fetcher] (id: 4);
timers:[Timer] (id: 5);
phased_loops:[Timer] (id: 6);
+
+ // Total count of Report send failures
+ send_failures:uint64 (id: 7);
}
root_type Report;
diff --git a/aos/events/event_loop.h b/aos/events/event_loop.h
index 61849abe..c81fa1e 100644
--- a/aos/events/event_loop.h
+++ b/aos/events/event_loop.h
@@ -4,6 +4,7 @@
#include <sched.h>
#include <atomic>
+#include <ostream>
#include <string>
#include <string_view>
@@ -138,42 +139,56 @@
public:
using SharedSpan = std::shared_ptr<const absl::Span<const uint8_t>>;
+ enum class [[nodiscard]] Error{
+ // Represents success and no error
+ kOk,
+
+ // Error for messages on channels being sent faster than their
+ // frequency and channel storage duration allow
+ kMessagesSentTooFast};
+
RawSender(EventLoop *event_loop, const Channel *channel);
RawSender(const RawSender &) = delete;
RawSender &operator=(const RawSender &) = delete;
virtual ~RawSender();
- // Sends a message without copying it. The users starts by copying up to
- // size() bytes into the data backed by data(). They then call Send to send.
- // Returns true on a successful send.
- // If provided, monotonic_remote_time, realtime_remote_time, and
- // remote_queue_index are attached to the message and are available in the
- // context on the read side. If they are not populated, the read side will
- // get the sent times instead.
virtual void *data() = 0;
virtual size_t size() = 0;
- bool Send(size_t size);
- bool Send(size_t size, monotonic_clock::time_point monotonic_remote_time,
- realtime_clock::time_point realtime_remote_time,
- uint32_t remote_queue_index, const UUID &source_boot_uuid);
+
+ // Sends a message without copying it. The users starts by copying up to
+ // size() bytes into the data backed by data(). They then call Send to send.
+ // Returns Error::kOk on a successful send, or
+ // Error::kMessagesSentTooFast if messages were sent too fast. If provided,
+ // monotonic_remote_time, realtime_remote_time, and remote_queue_index are
+ // attached to the message and are available in the context on the read side.
+ // If they are not populated, the read side will get the sent times instead.
+ Error Send(size_t size);
+ Error Send(size_t size, monotonic_clock::time_point monotonic_remote_time,
+ realtime_clock::time_point realtime_remote_time,
+ uint32_t remote_queue_index, const UUID &source_boot_uuid);
// Sends a single block of data by copying it.
// The remote arguments have the same meaning as in Send above.
- bool Send(const void *data, size_t size);
- bool Send(const void *data, size_t size,
- monotonic_clock::time_point monotonic_remote_time,
- realtime_clock::time_point realtime_remote_time,
- uint32_t remote_queue_index, const UUID &source_boot_uuid);
+ // Returns Error::kMessagesSentTooFast if messages were sent too fast
+ Error Send(const void *data, size_t size);
+ Error Send(const void *data, size_t size,
+ monotonic_clock::time_point monotonic_remote_time,
+ realtime_clock::time_point realtime_remote_time,
+ uint32_t remote_queue_index, const UUID &source_boot_uuid);
+
+ // CHECKs that no sending Error occurred and logs the channel_ data if
+ // one did
+ void CheckOk(const Error err);
// Sends a single block of data by refcounting it to avoid copies. The data
// must not change after being passed into Send. The remote arguments have the
// same meaning as in Send above.
- bool Send(const SharedSpan data);
- bool Send(const SharedSpan data,
- monotonic_clock::time_point monotonic_remote_time,
- realtime_clock::time_point realtime_remote_time,
- uint32_t remote_queue_index, const UUID &remote_boot_uuid);
+ Error Send(const SharedSpan data);
+ Error Send(const SharedSpan data,
+ monotonic_clock::time_point monotonic_remote_time,
+ realtime_clock::time_point realtime_remote_time,
+ uint32_t remote_queue_index, const UUID &remote_boot_uuid);
const Channel *channel() const { return channel_; }
@@ -210,21 +225,21 @@
private:
friend class EventLoop;
- virtual bool DoSend(const void *data, size_t size,
- monotonic_clock::time_point monotonic_remote_time,
- realtime_clock::time_point realtime_remote_time,
- uint32_t remote_queue_index,
- const UUID &source_boot_uuid) = 0;
- virtual bool DoSend(size_t size,
- monotonic_clock::time_point monotonic_remote_time,
- realtime_clock::time_point realtime_remote_time,
- uint32_t remote_queue_index,
- const UUID &source_boot_uuid) = 0;
- virtual bool DoSend(const SharedSpan data,
- monotonic_clock::time_point monotonic_remote_time,
- realtime_clock::time_point realtime_remote_time,
- uint32_t remote_queue_index,
- const UUID &source_boot_uuid);
+ virtual Error DoSend(const void *data, size_t size,
+ monotonic_clock::time_point monotonic_remote_time,
+ realtime_clock::time_point realtime_remote_time,
+ uint32_t remote_queue_index,
+ const UUID &source_boot_uuid) = 0;
+ virtual Error DoSend(size_t size,
+ monotonic_clock::time_point monotonic_remote_time,
+ realtime_clock::time_point realtime_remote_time,
+ uint32_t remote_queue_index,
+ const UUID &source_boot_uuid) = 0;
+ virtual Error DoSend(const SharedSpan data,
+ monotonic_clock::time_point monotonic_remote_time,
+ realtime_clock::time_point realtime_remote_time,
+ uint32_t remote_queue_index,
+ const UUID &source_boot_uuid);
EventLoop *const event_loop_;
const Channel *const channel_;
@@ -236,6 +251,9 @@
ChannelPreallocatedAllocator fbb_allocator_{nullptr, 0, nullptr};
};
+// Needed for compatibility with glog
+std::ostream &operator<<(std::ostream &os, const RawSender::Error err);
+
// Fetches the newest message from a channel.
// This provides a polling based interface for channels.
template <typename T>
@@ -336,14 +354,17 @@
return typename T2::Builder(fbb_);
}
- bool Send(flatbuffers::Offset<T> offset) {
+ RawSender::Error Send(flatbuffers::Offset<T> offset) {
fbb_.Finish(offset);
- const bool result = sender_->Send(fbb_.GetSize());
+ const auto err = sender_->Send(fbb_.GetSize());
// Ensure fbb_ knows it shouldn't access the memory any more.
fbb_ = flatbuffers::FlatBufferBuilder();
- return result;
+ return err;
}
+ // Equivalent to RawSender::CheckOk
+ void CheckOk(const RawSender::Error err) { sender_->CheckOk(err); };
+
// CHECKs that this message was sent.
void CheckSent() {
CHECK(!allocator_->is_allocated()) << ": Message was not sent yet";
@@ -374,11 +395,14 @@
Builder MakeBuilder();
// Sends a prebuilt flatbuffer.
- bool Send(const NonSizePrefixedFlatbuffer<T> &flatbuffer);
+ RawSender::Error Send(const NonSizePrefixedFlatbuffer<T> &flatbuffer);
// Sends a prebuilt flatbuffer which was detached from a Builder created via
// MakeBuilder() on this object.
- bool SendDetached(FlatbufferDetachedBuffer<T> detached);
+ RawSender::Error SendDetached(FlatbufferDetachedBuffer<T> detached);
+
+ // Equivalent to RawSender::CheckOk
+ void CheckOk(const RawSender::Error err) { sender_->CheckOk(err); };
// Returns the name of the underlying queue.
const Channel *channel() const { return sender_->channel(); }
@@ -405,6 +429,22 @@
std::unique_ptr<RawSender> sender_;
};
+// Class for keeping a count of send failures on a certain channel
+class SendFailureCounter {
+ public:
+ inline void Count(const RawSender::Error err) {
+ failures_ += static_cast<size_t>(err != RawSender::Error::kOk);
+ just_failed_ = (err != RawSender::Error::kOk);
+ }
+
+ inline size_t failures() const { return failures_; }
+ inline bool just_failed() const { return just_failed_; }
+
+ private:
+ size_t failures_ = 0;
+ bool just_failed_ = false;
+};
+
// Interface for timers.
class TimerHandler {
public:
@@ -505,13 +545,13 @@
virtual monotonic_clock::time_point monotonic_now() = 0;
virtual realtime_clock::time_point realtime_now() = 0;
- // Returns true if the channel exists in the configuration.
template <typename T>
const Channel *GetChannel(const std::string_view channel_name) {
return configuration::GetChannel(configuration(), channel_name,
T::GetFullyQualifiedName(), name(), node(),
true);
}
+ // Returns true if the channel exists in the configuration.
template <typename T>
bool HasChannel(const std::string_view channel_name) {
return GetChannel<T>(channel_name) != nullptr;
@@ -553,7 +593,7 @@
}
// Like MakeSender, but returns an invalid sender if the given channel is
- // not readable on this node or does not exist.
+ // not sendable on this node or does not exist.
template <typename T>
Sender<T> TryMakeSender(const std::string_view channel_name) {
const Channel *channel = GetChannel<T>(channel_name);
@@ -807,6 +847,8 @@
// If true, don't send out timing reports.
bool skip_timing_report_ = false;
+ SendFailureCounter timing_report_failure_counter_;
+
absl::btree_set<const Channel *> taken_watchers_, taken_senders_;
};
diff --git a/aos/events/event_loop_event.h b/aos/events/event_loop_event.h
index 808a4fe..a86f670 100644
--- a/aos/events/event_loop_event.h
+++ b/aos/events/event_loop_event.h
@@ -32,7 +32,7 @@
}
void set_generation(size_t generation) { generation_ = generation; }
- virtual void HandleEvent() = 0;
+ virtual void HandleEvent() noexcept = 0;
private:
monotonic_clock::time_point event_time_ = monotonic_clock::max_time;
@@ -45,7 +45,7 @@
public:
EventHandler(T *t) : t_(t) {}
~EventHandler() override = default;
- void HandleEvent() override { t_->HandleEvent(); }
+ void HandleEvent() noexcept override { t_->HandleEvent(); }
private:
T *const t_;
diff --git a/aos/events/event_loop_param_test.cc b/aos/events/event_loop_param_test.cc
index 2749f60..fca25d4 100644
--- a/aos/events/event_loop_param_test.cc
+++ b/aos/events/event_loop_param_test.cc
@@ -86,7 +86,7 @@
aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
builder.add_value(200);
- ASSERT_TRUE(msg.Send(builder.Finish()));
+ msg.CheckOk(msg.Send(builder.Finish()));
});
loop2->MakeWatcher("/test", [&](const TestMessage &message) {
@@ -121,7 +121,7 @@
builder.add_value(200);
detached = msg.Detach(builder.Finish());
}
- ASSERT_TRUE(sender.SendDetached(std::move(detached)));
+ sender.CheckOk(sender.SendDetached(std::move(detached)));
auto fetcher = loop2->MakeFetcher<TestMessage>("/test");
ASSERT_TRUE(fetcher.Fetch());
@@ -142,7 +142,7 @@
aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
- ASSERT_TRUE(msg.Send(builder.Finish()));
+ msg.CheckOk(msg.Send(builder.Finish()));
});
loop2->MakeNoArgWatcher<TestMessage>("/test", [&]() {
@@ -173,7 +173,7 @@
aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
builder.add_value(200);
- ASSERT_TRUE(msg.Send(builder.Finish()));
+ msg.CheckOk(msg.Send(builder.Finish()));
});
aos::Fetcher<TestMessage> fetcher = loop2->MakeFetcher<TestMessage>("/test");
@@ -203,7 +203,7 @@
aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
builder.add_value(200);
- ASSERT_TRUE(msg.Send(builder.Finish()));
+ msg.CheckOk(msg.Send(builder.Finish()));
});
loop2->MakeWatcher("/test", std::function<void(const TestMessage &)>(
@@ -235,13 +235,13 @@
aos::Sender<TestMessage>::Builder msg = sender1.MakeBuilder();
TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
builder.add_value(200);
- ASSERT_TRUE(msg.Send(builder.Finish()));
+ msg.CheckOk(msg.Send(builder.Finish()));
}
{
aos::Sender<TestMessage>::Builder msg = sender2.MakeBuilder();
TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
builder.add_value(200);
- ASSERT_TRUE(msg.Send(builder.Finish()));
+ msg.CheckOk(msg.Send(builder.Finish()));
}
});
@@ -285,7 +285,7 @@
aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
builder.add_value(200);
- ASSERT_TRUE(msg.Send(builder.Finish()));
+ msg.CheckOk(msg.Send(builder.Finish()));
EXPECT_TRUE(fetcher.Fetch());
ASSERT_FALSE(fetcher.get() == nullptr);
@@ -339,7 +339,7 @@
aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
builder.add_value(199);
- ASSERT_TRUE(msg.Send(builder.Finish()));
+ msg.CheckOk(msg.Send(builder.Finish()));
}
loop2->OnRun([&]() {
@@ -347,13 +347,13 @@
aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
builder.add_value(200);
- ASSERT_TRUE(msg.Send(builder.Finish()));
+ msg.CheckOk(msg.Send(builder.Finish()));
}
{
aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
builder.add_value(201);
- ASSERT_TRUE(msg.Send(builder.Finish()));
+ msg.CheckOk(msg.Send(builder.Finish()));
}
});
@@ -376,13 +376,13 @@
aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
builder.add_value(200);
- ASSERT_TRUE(msg.Send(builder.Finish()));
+ msg.CheckOk(msg.Send(builder.Finish()));
}
{
aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
builder.add_value(201);
- ASSERT_TRUE(msg.Send(builder.Finish()));
+ msg.CheckOk(msg.Send(builder.Finish()));
}
loop2->MakeWatcher("/test", [&](const TestMessage &message) {
@@ -413,13 +413,13 @@
aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
builder.add_value(200);
- ASSERT_TRUE(msg.Send(builder.Finish()));
+ msg.CheckOk(msg.Send(builder.Finish()));
}
{
aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
builder.add_value(201);
- ASSERT_TRUE(msg.Send(builder.Finish()));
+ msg.CheckOk(msg.Send(builder.Finish()));
}
// Add a timer to actually quit.
@@ -451,13 +451,13 @@
aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
builder.add_value(200);
- ASSERT_TRUE(msg.Send(builder.Finish()));
+ msg.CheckOk(msg.Send(builder.Finish()));
}
{
aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
builder.add_value(201);
- ASSERT_TRUE(msg.Send(builder.Finish()));
+ msg.CheckOk(msg.Send(builder.Finish()));
}
auto fetcher = loop2->MakeFetcher<TestMessage>("/test");
@@ -492,13 +492,13 @@
aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
builder.add_value(200);
- ASSERT_TRUE(msg.Send(builder.Finish()));
+ msg.CheckOk(msg.Send(builder.Finish()));
}
{
aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
builder.add_value(201);
- ASSERT_TRUE(msg.Send(builder.Finish()));
+ msg.CheckOk(msg.Send(builder.Finish()));
}
auto fetcher = loop2->MakeFetcher<TestMessage>("/test");
@@ -536,13 +536,13 @@
aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
builder.add_value(200);
- ASSERT_TRUE(msg.Send(builder.Finish()));
+ msg.CheckOk(msg.Send(builder.Finish()));
}
{
aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
builder.add_value(201);
- ASSERT_TRUE(msg.Send(builder.Finish()));
+ msg.CheckOk(msg.Send(builder.Finish()));
}
auto fetcher = loop2->MakeFetcher<TestMessage>("/test");
@@ -557,19 +557,19 @@
aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
builder.add_value(202);
- ASSERT_TRUE(msg.Send(builder.Finish()));
+ msg.CheckOk(msg.Send(builder.Finish()));
}
{
aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
builder.add_value(203);
- ASSERT_TRUE(msg.Send(builder.Finish()));
+ msg.CheckOk(msg.Send(builder.Finish()));
}
{
aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
builder.add_value(204);
- ASSERT_TRUE(msg.Send(builder.Finish()));
+ msg.CheckOk(msg.Send(builder.Finish()));
}
if (fetcher.FetchNext()) {
@@ -603,14 +603,14 @@
aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
builder.add_value(100);
- ASSERT_TRUE(msg.Send(builder.Finish()));
+ msg.CheckOk(msg.Send(builder.Finish()));
}
{
aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
builder.add_value(200);
- ASSERT_TRUE(msg.Send(builder.Finish()));
+ msg.CheckOk(msg.Send(builder.Finish()));
}
ASSERT_TRUE(fetcher.FetchNext());
@@ -637,7 +637,7 @@
aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
builder.add_value(1);
- ASSERT_TRUE(msg.Send(builder.Finish()));
+ msg.CheckOk(msg.Send(builder.Finish()));
}
ASSERT_TRUE(fetcher.Fetch());
EXPECT_EQ(1, fetcher.get()->value());
@@ -645,7 +645,7 @@
aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
builder.add_value(i + 2);
- ASSERT_TRUE(msg.Send(builder.Finish()));
+ msg.CheckOk(msg.Send(builder.Finish()));
}
EXPECT_EQ(1, fetcher.get()->value());
}
@@ -663,7 +663,7 @@
aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
builder.add_value(i);
- ASSERT_TRUE(msg.Send(builder.Finish()));
+ msg.CheckOk(msg.Send(builder.Finish()));
};
std::vector<Fetcher<TestMessage>> fetchers;
for (int i = 0; i < 10; ++i) {
@@ -943,7 +943,7 @@
aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
builder.add_value(200);
- ASSERT_TRUE(msg.Send(builder.Finish()));
+ msg.CheckOk(msg.Send(builder.Finish()));
});
Run();
@@ -988,7 +988,7 @@
aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
builder.add_value(200);
- ASSERT_TRUE(msg.Send(builder.Finish()));
+ msg.CheckOk(msg.Send(builder.Finish()));
});
Run();
@@ -1186,14 +1186,14 @@
auto ender_timer = loop->AddTimer([&test_timer]() { test_timer->Disable(); });
monotonic_clock::time_point s = loop->monotonic_now();
- test_timer->Setup(s, ::std::chrono::milliseconds(70));
- ender_timer->Setup(s + ::std::chrono::milliseconds(200));
- EndEventLoop(loop.get(), ::std::chrono::milliseconds(350));
+ test_timer->Setup(s, ::std::chrono::milliseconds(500));
+ ender_timer->Setup(s + ::std::chrono::milliseconds(1250));
+ EndEventLoop(loop.get(), ::std::chrono::milliseconds(2000));
Run();
EXPECT_THAT(iteration_list,
- ::testing::ElementsAre(s, s + chrono::milliseconds(70),
- s + chrono::milliseconds(140)));
+ ::testing::ElementsAre(s, s + chrono::milliseconds(500),
+ s + chrono::milliseconds(1000)));
}
// Verify that a timer can disable itself.
@@ -1393,7 +1393,7 @@
aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
builder.add_value(200);
- ASSERT_TRUE(msg.Send(builder.Finish()));
+ msg.CheckOk(msg.Send(builder.Finish()));
});
bool triggered = false;
@@ -1493,7 +1493,7 @@
aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
builder.add_value(200);
- ASSERT_TRUE(msg.Send(builder.Finish()));
+ msg.CheckOk(msg.Send(builder.Finish()));
});
bool triggered = false;
@@ -1821,7 +1821,7 @@
aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
builder.add_value(200 + i);
- ASSERT_TRUE(msg.Send(builder.Finish()));
+ msg.CheckOk(msg.Send(builder.Finish()));
}
});
@@ -1906,7 +1906,7 @@
aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
builder.add_value(200 + i);
- ASSERT_TRUE(msg.Send(builder.Finish()));
+ msg.CheckOk(msg.Send(builder.Finish()));
}
});
@@ -1975,7 +1975,7 @@
aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
builder.add_value(200 + i);
- ASSERT_TRUE(msg.Send(builder.Finish()));
+ msg.CheckOk(msg.Send(builder.Finish()));
}
});
@@ -2063,7 +2063,8 @@
loop3->configuration(), "/test", "aos.TestMessage", "", nullptr));
loop2->OnRun([&]() {
- EXPECT_TRUE(sender->Send(kMessage.span().data(), kMessage.span().size()));
+ EXPECT_EQ(sender->Send(kMessage.span().data(), kMessage.span().size()),
+ RawSender::Error::kOk);
});
bool happened = false;
@@ -2113,8 +2114,9 @@
loop3->configuration(), "/test", "aos.TestMessage", "", nullptr));
loop2->OnRun([&]() {
- EXPECT_TRUE(sender->Send(std::make_shared<absl::Span<const uint8_t>>(
- kMessage.span().data(), kMessage.span().size())));
+ EXPECT_EQ(sender->Send(std::make_shared<absl::Span<const uint8_t>>(
+ kMessage.span().data(), kMessage.span().size())),
+ RawSender::Error::kOk);
});
bool happened = false;
@@ -2171,9 +2173,10 @@
loop3->configuration(), "/test", "aos.TestMessage", "", nullptr));
loop2->OnRun([&]() {
- EXPECT_TRUE(sender->Send(kMessage.span().data(), kMessage.span().size(),
- monotonic_remote_time, realtime_remote_time,
- remote_queue_index, source_boot_uuid));
+ EXPECT_EQ(sender->Send(kMessage.span().data(), kMessage.span().size(),
+ monotonic_remote_time, realtime_remote_time,
+ remote_queue_index, source_boot_uuid),
+ RawSender::Error::kOk);
});
bool happened = false;
@@ -2217,7 +2220,8 @@
const aos::monotonic_clock::time_point monotonic_now = loop1->monotonic_now();
const aos::realtime_clock::time_point realtime_now = loop1->realtime_now();
- EXPECT_TRUE(sender->Send(kMessage.span().data(), kMessage.span().size()));
+ EXPECT_EQ(sender->Send(kMessage.span().data(), kMessage.span().size()),
+ RawSender::Error::kOk);
EXPECT_GE(sender->monotonic_sent_time(), monotonic_now);
EXPECT_LE(sender->monotonic_sent_time(),
@@ -2227,7 +2231,8 @@
realtime_now + chrono::milliseconds(100));
EXPECT_EQ(sender->sent_queue_index(), 0u);
- EXPECT_TRUE(sender->Send(kMessage.span().data(), kMessage.span().size()));
+ EXPECT_EQ(sender->Send(kMessage.span().data(), kMessage.span().size()),
+ RawSender::Error::kOk);
EXPECT_GE(sender->monotonic_sent_time(), monotonic_now);
EXPECT_LE(sender->monotonic_sent_time(),
@@ -2382,7 +2387,7 @@
loop1->OnRun([&]() {
aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
- ASSERT_TRUE(msg.Send(builder.Finish()));
+ msg.CheckOk(msg.Send(builder.Finish()));
});
loop1->MakeWatcher("/test", [&](const TestMessage &) {
@@ -2405,7 +2410,7 @@
loop1->OnRun([&]() {
aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
- ASSERT_TRUE(msg.Send(builder.Finish()));
+ msg.CheckOk(msg.Send(builder.Finish()));
});
loop1->MakeWatcher("/test", [&](const TestMessage &) {
@@ -2558,7 +2563,7 @@
auto builder = sender1.MakeBuilder();
FlatbufferDetachedBuffer<TestMessage> detached =
builder.Detach(builder.MakeBuilder<TestMessage>().Finish());
- EXPECT_DEATH(sender2.SendDetached(std::move(detached)),
+ EXPECT_DEATH(sender2.CheckOk(sender2.SendDetached(std::move(detached))),
"May only send the buffer detached from this Sender");
}
diff --git a/aos/events/event_loop_tmpl.h b/aos/events/event_loop_tmpl.h
index 1a02495..0b08dc0 100644
--- a/aos/events/event_loop_tmpl.h
+++ b/aos/events/event_loop_tmpl.h
@@ -132,17 +132,18 @@
return false;
}
-inline bool RawSender::Send(size_t size) {
+inline RawSender::Error RawSender::Send(size_t size) {
return Send(size, monotonic_clock::min_time, realtime_clock::min_time,
0xffffffffu, event_loop_->boot_uuid());
}
-inline bool RawSender::Send(
+inline RawSender::Error RawSender::Send(
size_t size, aos::monotonic_clock::time_point monotonic_remote_time,
aos::realtime_clock::time_point realtime_remote_time,
uint32_t remote_queue_index, const UUID &uuid) {
- if (DoSend(size, monotonic_remote_time, realtime_remote_time,
- remote_queue_index, uuid)) {
+ const auto err = DoSend(size, monotonic_remote_time, realtime_remote_time,
+ remote_queue_index, uuid);
+ if (err == RawSender::Error::kOk) {
if (timing_.sender) {
timing_.size.Add(size);
timing_.sender->mutate_count(timing_.sender->count() + 1);
@@ -152,23 +153,23 @@
static_cast<int>(ftrace_prefix_.size()), ftrace_prefix_.data(),
static_cast<int64_t>(monotonic_sent_time().time_since_epoch().count()),
sent_queue_index());
- return true;
}
- return false;
+ return err;
}
-inline bool RawSender::Send(const void *data, size_t size) {
+inline RawSender::Error RawSender::Send(const void *data, size_t size) {
return Send(data, size, monotonic_clock::min_time, realtime_clock::min_time,
0xffffffffu, event_loop_->boot_uuid());
}
-inline bool RawSender::Send(
+inline RawSender::Error RawSender::Send(
const void *data, size_t size,
aos::monotonic_clock::time_point monotonic_remote_time,
aos::realtime_clock::time_point realtime_remote_time,
uint32_t remote_queue_index, const UUID &uuid) {
- if (DoSend(data, size, monotonic_remote_time, realtime_remote_time,
- remote_queue_index, uuid)) {
+ const auto err = DoSend(data, size, monotonic_remote_time,
+ realtime_remote_time, remote_queue_index, uuid);
+ if (err == RawSender::Error::kOk) {
if (timing_.sender) {
timing_.size.Add(size);
timing_.sender->mutate_count(timing_.sender->count() + 1);
@@ -178,24 +179,24 @@
static_cast<int>(ftrace_prefix_.size()), ftrace_prefix_.data(),
static_cast<int64_t>(monotonic_sent_time().time_since_epoch().count()),
sent_queue_index());
- return true;
}
- return false;
+ return err;
}
-inline bool RawSender::Send(const SharedSpan data) {
+inline RawSender::Error RawSender::Send(const SharedSpan data) {
return Send(std::move(data), monotonic_clock::min_time,
realtime_clock::min_time, 0xffffffffu, event_loop_->boot_uuid());
}
-inline bool RawSender::Send(
+inline RawSender::Error RawSender::Send(
const SharedSpan data,
aos::monotonic_clock::time_point monotonic_remote_time,
aos::realtime_clock::time_point realtime_remote_time,
uint32_t remote_queue_index, const UUID &uuid) {
const size_t size = data->size();
- if (DoSend(std::move(data), monotonic_remote_time, realtime_remote_time,
- remote_queue_index, uuid)) {
+ const auto err = DoSend(std::move(data), monotonic_remote_time,
+ realtime_remote_time, remote_queue_index, uuid);
+ if (err == Error::kOk) {
if (timing_.sender) {
timing_.size.Add(size);
timing_.sender->mutate_count(timing_.sender->count() + 1);
@@ -205,9 +206,8 @@
static_cast<int>(ftrace_prefix_.size()), ftrace_prefix_.data(),
static_cast<int64_t>(monotonic_sent_time().time_since_epoch().count()),
sent_queue_index());
- return true;
}
- return false;
+ return err;
}
inline monotonic_clock::time_point TimerHandler::Call(
@@ -371,12 +371,13 @@
};
template <typename T>
-bool Sender<T>::Send(const NonSizePrefixedFlatbuffer<T> &flatbuffer) {
+RawSender::Error Sender<T>::Send(
+ const NonSizePrefixedFlatbuffer<T> &flatbuffer) {
return sender_->Send(flatbuffer.span().data(), flatbuffer.span().size());
}
template <typename T>
-bool Sender<T>::SendDetached(FlatbufferDetachedBuffer<T> detached) {
+RawSender::Error Sender<T>::SendDetached(FlatbufferDetachedBuffer<T> detached) {
CHECK_EQ(static_cast<void *>(detached.span().data() + detached.span().size() -
sender_->size()),
sender_->data())
diff --git a/aos/events/event_scheduler.cc b/aos/events/event_scheduler.cc
index 6f2c2c8..c06638c 100644
--- a/aos/events/event_scheduler.cc
+++ b/aos/events/event_scheduler.cc
@@ -8,8 +8,8 @@
namespace aos {
-EventScheduler::Token EventScheduler::Schedule(
- monotonic_clock::time_point time, ::std::function<void()> callback) {
+EventScheduler::Token EventScheduler::Schedule(monotonic_clock::time_point time,
+ Event *callback) {
return events_list_.emplace(time, callback);
}
@@ -58,9 +58,9 @@
CHECK_EQ(t.boot, boot_count_);
CHECK_EQ(t.time, iter->first) << ": Time is wrong on node " << node_index_;
- ::std::function<void()> callback = ::std::move(iter->second);
+ Event *callback = iter->second;
events_list_.erase(iter);
- callback();
+ callback->Handle();
converter_->ObserveTimePassed(scheduler_scheduler_->distributed_now());
}
diff --git a/aos/events/event_scheduler.h b/aos/events/event_scheduler.h
index cc70757..55c1cf8 100644
--- a/aos/events/event_scheduler.h
+++ b/aos/events/event_scheduler.h
@@ -85,8 +85,13 @@
class EventScheduler {
public:
- using ChannelType =
- std::multimap<monotonic_clock::time_point, std::function<void()>>;
+ class Event {
+ public:
+ virtual void Handle() noexcept = 0;
+ virtual ~Event() {}
+ };
+
+ using ChannelType = std::multimap<monotonic_clock::time_point, Event *>;
using Token = ChannelType::iterator;
EventScheduler(size_t node_index) : node_index_(node_index) {}
@@ -97,14 +102,11 @@
converter_ = converter;
}
- UUID boot_uuid() {
- return converter_->boot_uuid(node_index_, boot_count_);
- }
+ UUID boot_uuid() { return converter_->boot_uuid(node_index_, boot_count_); }
// Schedule an event with a callback function
// Returns an iterator to the event
- Token Schedule(monotonic_clock::time_point time,
- std::function<void()> callback);
+ Token Schedule(monotonic_clock::time_point time, Event *callback);
// Schedules a callback when the event scheduler starts.
void ScheduleOnRun(std::function<void()> callback) {
diff --git a/aos/events/logging/log_namer.h b/aos/events/logging/log_namer.h
index f1f1829..00e1856 100644
--- a/aos/events/logging/log_namer.h
+++ b/aos/events/logging/log_namer.h
@@ -106,8 +106,8 @@
monotonic_clock::time_point monotonic_start_time_ = monotonic_clock::min_time;
- const Node *const node_ = nullptr;
- const size_t node_index_ = 0;
+ const Node *node_ = nullptr;
+ size_t node_index_ = 0;
LogNamer *log_namer_;
UUID parts_uuid_ = UUID::Random();
size_t parts_index_ = 0;
diff --git a/aos/events/logging/log_reader.cc b/aos/events/logging/log_reader.cc
index a757303..63eba05 100644
--- a/aos/events/logging/log_reader.cc
+++ b/aos/events/logging/log_reader.cc
@@ -1424,7 +1424,7 @@
// Send! Use the replayed queue index here instead of the logged queue index
// for the remote queue index. This makes re-logging work.
- const bool sent = sender->Send(
+ const auto err = sender->Send(
RawSender::SharedSpan(timestamped_message.data,
×tamped_message.data->span),
timestamped_message.monotonic_remote_time.time,
@@ -1434,7 +1434,7 @@
channel_source_state_[timestamped_message.channel_index])
->event_loop_->boot_uuid()
: event_loop_->boot_uuid()));
- if (!sent) return false;
+ if (err != RawSender::Error::kOk) return false;
if (queue_index_map_[timestamped_message.channel_index]) {
CHECK_EQ(timestamped_message.monotonic_event_time.boot, boot_count());
@@ -1455,7 +1455,8 @@
ContiguousSentTimestamp *back =
&queue_index_map_[timestamped_message.channel_index]->back();
if ((back->starting_queue_index - back->actual_queue_index) ==
- (timestamped_message.queue_index.index - sender->sent_queue_index())) {
+ (timestamped_message.queue_index.index -
+ sender->sent_queue_index())) {
back->ending_queue_index = timestamped_message.queue_index.index;
back->ending_monotonic_event_time =
timestamped_message.monotonic_event_time.time;
@@ -1597,7 +1598,8 @@
// Send out all timestamps at the currently scheduled time.
while (remote_timestamps_.front().monotonic_timestamp_time ==
scheduled_time_) {
- sender_.Send(std::move(remote_timestamps_.front().remote_message));
+ CHECK_EQ(sender_.Send(std::move(remote_timestamps_.front().remote_message)),
+ RawSender::Error::kOk);
remote_timestamps_.pop_front();
if (remote_timestamps_.empty()) {
break;
diff --git a/aos/events/logging/log_reader.h b/aos/events/logging/log_reader.h
index e367f0c..5cccdeb 100644
--- a/aos/events/logging/log_reader.h
+++ b/aos/events/logging/log_reader.h
@@ -163,6 +163,14 @@
true) != nullptr;
}
+ template <typename T>
+ void MaybeRemapLoggedChannel(std::string_view name,
+ const Node *node = nullptr) {
+ if (HasChannel<T>(name, node)) {
+ RemapLoggedChannel<T>(name, node);
+ }
+ }
+
// Returns true if the channel exists on the node and was logged.
template <typename T>
bool HasLoggedChannel(std::string_view name, const Node *node = nullptr) {
diff --git a/aos/events/logging/logfile_sorting.cc b/aos/events/logging/logfile_sorting.cc
index 7eb17a0..7610295 100644
--- a/aos/events/logging/logfile_sorting.cc
+++ b/aos/events/logging/logfile_sorting.cc
@@ -15,6 +15,9 @@
#include "openssl/sha.h"
#include "sys/stat.h"
+DEFINE_bool(quiet_sorting, false,
+ "If true, sort with minimal messages about truncated files.");
+
namespace aos {
namespace logger {
namespace chrono = std::chrono;
@@ -295,12 +298,13 @@
// Map from a observed pair of boots to the associated timestamps.
// logger_node -> logger_node_boot_uuid -> destination_node index ->
- // destination_boot_uuid -> times.
+ // destination_boot_uuid -> list of all times from all parts.
absl::btree_map<
std::string,
absl::btree_map<
std::string,
- absl::btree_map<size_t, absl::btree_map<std::string, BootPairTimes>>>>
+ absl::btree_map<size_t, absl::btree_map<std::string,
+ std::vector<BootPairTimes>>>>>
boot_times;
// Map holding the log_event_uuid -> second map. The second map holds the
@@ -342,11 +346,13 @@
// resources, so close a big batch at once periodically.
part_readers.clear();
}
- part_readers.emplace_back(part);
+ part_readers.emplace_back(part, FLAGS_quiet_sorting);
std::optional<SizePrefixedFlatbufferVector<LogFileHeader>> log_header =
ReadHeader(&part_readers.back());
if (!log_header) {
- LOG(WARNING) << "Skipping " << part << " without a header";
+ if (!FLAGS_quiet_sorting) {
+ LOG(WARNING) << "Skipping " << part << " without a header";
+ }
corrupted.emplace_back(part);
continue;
}
@@ -461,7 +467,9 @@
std::optional<SizePrefixedFlatbufferVector<MessageHeader>> first_message =
ReadNthMessage(part, 0);
if (!first_message) {
- LOG(WARNING) << "Skipping " << part << " without any messages";
+ if (!FLAGS_quiet_sorting) {
+ LOG(WARNING) << "Skipping " << part << " without any messages";
+ }
corrupted.emplace_back(part);
continue;
}
@@ -571,7 +579,8 @@
std::string,
absl::btree_map<
size_t,
- absl::btree_map<std::string, BootPairTimes>>>())
+ absl::btree_map<std::string,
+ std::vector<BootPairTimes>>>>())
.first;
}
auto source_boot_times_it =
@@ -583,7 +592,8 @@
.emplace(
logger_boot_uuid,
absl::btree_map<
- size_t, absl::btree_map<std::string, BootPairTimes>>())
+ size_t, absl::btree_map<std::string,
+ std::vector<BootPairTimes>>>())
.first;
}
@@ -646,7 +656,8 @@
destination_boot_times_it =
source_boot_times_it->second
.emplace(node_index,
- absl::btree_map<std::string, BootPairTimes>())
+ absl::btree_map<std::string,
+ std::vector<BootPairTimes>>())
.first;
}
@@ -656,7 +667,17 @@
if (boot_times_it == destination_boot_times_it->second.end()) {
// We have a new boot UUID pairing. Copy over the data we have.
destination_boot_times_it->second.emplace(
- boot_uuid,
+ boot_uuid, std::vector<BootPairTimes>{BootPairTimes{
+ .oldest_remote_monotonic_timestamp =
+ oldest_remote_monotonic_timestamp,
+ .oldest_local_monotonic_timestamp =
+ oldest_local_monotonic_timestamp,
+ .oldest_remote_unreliable_monotonic_timestamp =
+ oldest_remote_unreliable_monotonic_timestamp,
+ .oldest_local_unreliable_monotonic_timestamp =
+ oldest_local_unreliable_monotonic_timestamp}});
+ } else {
+ boot_times_it->second.emplace_back(
BootPairTimes{.oldest_remote_monotonic_timestamp =
oldest_remote_monotonic_timestamp,
.oldest_local_monotonic_timestamp =
@@ -665,24 +686,6 @@
oldest_remote_unreliable_monotonic_timestamp,
.oldest_local_unreliable_monotonic_timestamp =
oldest_local_unreliable_monotonic_timestamp});
- } else {
- // If we found an existing entry, update the min to be the min of all
- // records. This lets us combine info from multiple part files.
- if (oldest_remote_monotonic_timestamp <
- boot_times_it->second.oldest_remote_monotonic_timestamp) {
- boot_times_it->second.oldest_remote_monotonic_timestamp =
- oldest_remote_monotonic_timestamp;
- boot_times_it->second.oldest_local_monotonic_timestamp =
- oldest_local_monotonic_timestamp;
- }
- if (oldest_remote_unreliable_monotonic_timestamp <
- boot_times_it->second
- .oldest_remote_unreliable_monotonic_timestamp) {
- boot_times_it->second.oldest_remote_unreliable_monotonic_timestamp =
- oldest_remote_unreliable_monotonic_timestamp;
- boot_times_it->second.oldest_local_unreliable_monotonic_timestamp =
- oldest_local_unreliable_monotonic_timestamp;
- }
}
}
}
@@ -800,38 +803,139 @@
// Now, we have a bunch of remote boots for the same local boot and
// remote node. We want to sort them by observed local time. This will
- // tell us which ones happened first.
- std::vector<std::pair<std::string, BootPairTimes>> source_boot_times;
- for (const auto &boot_time : source_nodes.second) {
- source_boot_times.emplace_back(boot_time);
+ // tell us which ones happened first. Hold on to the max time on that
+ // node too so we can check for overlapping boots.
+ std::vector<std::tuple<std::string, BootPairTimes, BootPairTimes>>
+ source_boot_times;
+ for (const auto &boot_time_list : source_nodes.second) {
+ // Track the first boot time we have evidence of.
+ BootPairTimes boot_time = boot_time_list.second[0];
+ // And the last one so we can look for overlapping boots.
+ BootPairTimes max_boot_time = boot_time_list.second[0];
+ for (size_t i = 0; i < boot_time_list.second.size(); ++i) {
+ const BootPairTimes &next_boot_time = boot_time_list.second[i];
+ if (next_boot_time.oldest_local_unreliable_monotonic_timestamp !=
+ aos::monotonic_clock::max_time) {
+ VLOG(1)
+ << "Remote time "
+ << next_boot_time.oldest_remote_unreliable_monotonic_timestamp
+ << " " << boot_time_list.first;
+ VLOG(1)
+ << "Local time "
+ << next_boot_time.oldest_local_unreliable_monotonic_timestamp
+ << " " << boot_time_list.first;
+ }
+ // If we found an existing entry, update the min to be the min of
+ // all records. This lets us combine info from multiple part files.
+ if (next_boot_time.oldest_remote_monotonic_timestamp <
+ boot_time.oldest_remote_monotonic_timestamp) {
+ boot_time.oldest_remote_monotonic_timestamp =
+ next_boot_time.oldest_remote_monotonic_timestamp;
+ boot_time.oldest_local_monotonic_timestamp =
+ next_boot_time.oldest_local_monotonic_timestamp;
+ }
+ if ((next_boot_time.oldest_remote_monotonic_timestamp >
+ max_boot_time.oldest_remote_monotonic_timestamp ||
+ max_boot_time.oldest_remote_monotonic_timestamp ==
+ aos::monotonic_clock::max_time) &&
+ next_boot_time.oldest_remote_monotonic_timestamp !=
+ aos::monotonic_clock::max_time) {
+ max_boot_time.oldest_remote_monotonic_timestamp =
+ next_boot_time.oldest_remote_monotonic_timestamp;
+ max_boot_time.oldest_local_monotonic_timestamp =
+ next_boot_time.oldest_local_monotonic_timestamp;
+ }
+ if (next_boot_time.oldest_remote_unreliable_monotonic_timestamp <
+ boot_time.oldest_remote_unreliable_monotonic_timestamp) {
+ boot_time.oldest_remote_unreliable_monotonic_timestamp =
+ next_boot_time.oldest_remote_unreliable_monotonic_timestamp;
+ boot_time.oldest_local_unreliable_monotonic_timestamp =
+ next_boot_time.oldest_local_unreliable_monotonic_timestamp;
+ }
+ if ((next_boot_time.oldest_remote_unreliable_monotonic_timestamp >
+ max_boot_time
+ .oldest_remote_unreliable_monotonic_timestamp ||
+ max_boot_time.oldest_remote_unreliable_monotonic_timestamp ==
+ aos::monotonic_clock::max_time) &&
+ next_boot_time.oldest_remote_unreliable_monotonic_timestamp !=
+ aos::monotonic_clock::max_time) {
+ max_boot_time.oldest_remote_unreliable_monotonic_timestamp =
+ next_boot_time.oldest_remote_unreliable_monotonic_timestamp;
+ max_boot_time.oldest_local_unreliable_monotonic_timestamp =
+ next_boot_time.oldest_local_unreliable_monotonic_timestamp;
+ }
+ }
+ source_boot_times.emplace_back(
+ std::make_tuple(boot_time_list.first, boot_time, max_boot_time));
}
std::sort(
source_boot_times.begin(), source_boot_times.end(),
- [](const std::pair<std::string, BootPairTimes> &a,
- const std::pair<std::string, BootPairTimes> &b) {
+ [](const std::tuple<std::string, BootPairTimes, BootPairTimes> &a,
+ const std::tuple<std::string, BootPairTimes, BootPairTimes> &b) {
// There are cases where we will only have a reliable timestamp.
// In that case, we need to use oldest_local_monotonic_timestamp.
// But, that may result in collisions if the same message gets
// forwarded to both boots, so it will have the same timestamp.
// Solve that by breaking the tie with the unreliable messages.
- if (a.second.oldest_local_monotonic_timestamp ==
- b.second.oldest_local_monotonic_timestamp) {
- CHECK_NE(a.second.oldest_local_unreliable_monotonic_timestamp,
- b.second.oldest_local_unreliable_monotonic_timestamp);
- return a.second.oldest_local_unreliable_monotonic_timestamp <
- b.second.oldest_local_unreliable_monotonic_timestamp;
+ if (std::get<1>(a).oldest_local_monotonic_timestamp ==
+ std::get<1>(b).oldest_local_monotonic_timestamp) {
+ CHECK_NE(
+ std::get<1>(a).oldest_local_unreliable_monotonic_timestamp,
+ std::get<1>(b).oldest_local_unreliable_monotonic_timestamp);
+ return std::get<1>(a)
+ .oldest_local_unreliable_monotonic_timestamp <
+ std::get<1>(b)
+ .oldest_local_unreliable_monotonic_timestamp;
} else {
- return a.second.oldest_local_monotonic_timestamp <
- b.second.oldest_local_monotonic_timestamp;
+ return std::get<1>(a).oldest_local_monotonic_timestamp <
+ std::get<1>(b).oldest_local_monotonic_timestamp;
}
});
+ // The last time from the source node on the logger node.
+ // This is used to track overlapping boots since this should always
+ // increase.
+ aos::monotonic_clock::time_point last_boot_time =
+ aos::monotonic_clock::min_time;
+
// Now take our sorted list and build up constraints so we can solve.
for (size_t boot_id = 0; boot_id < source_boot_times.size();
++boot_id) {
- const std::pair<std::string, BootPairTimes> &boot_time =
- source_boot_times[boot_id];
- const std::string &source_boot_uuid = boot_time.first;
+ const std::tuple<std::string, BootPairTimes, BootPairTimes>
+ &boot_time = source_boot_times[boot_id];
+ const std::string &source_boot_uuid = std::get<0>(boot_time);
+
+ // Enforce that the last time observed in the headers on the previous
+ // boot is less than the first time on the next boot. This equates to
+ // there being no overlap between the two boots.
+ if (std::get<1>(boot_time)
+ .oldest_local_unreliable_monotonic_timestamp <
+ last_boot_time) {
+ for (size_t fatal_boot_id = 0;
+ fatal_boot_id < source_boot_times.size(); ++fatal_boot_id) {
+ const std::tuple<std::string, BootPairTimes, BootPairTimes>
+ &fatal_boot_time = source_boot_times[fatal_boot_id];
+ const std::string &fatal_source_boot_uuid =
+ std::get<0>(fatal_boot_time);
+ LOG(ERROR) << "Boot " << fatal_boot_id << ", "
+ << fatal_source_boot_uuid << " on " << source_node_name
+ << " spans ["
+ << std::get<1>(fatal_boot_time)
+ .oldest_local_unreliable_monotonic_timestamp
+ << ", "
+ << std::get<2>(fatal_boot_time)
+ .oldest_local_unreliable_monotonic_timestamp
+ << "] on logger " << logger_node_name;
+ }
+ LOG(FATAL) << "Found overlapping boots on " << source_node_name
+ << " logged on " << logger_node_name << ", "
+ << std::get<1>(boot_time)
+ .oldest_local_unreliable_monotonic_timestamp
+ << " < " << last_boot_time;
+ }
+
+ last_boot_time = std::get<2>(boot_time)
+ .oldest_local_unreliable_monotonic_timestamp;
auto source_node_boot_constraints_it =
boot_constraints.find(source_node_name);
@@ -854,9 +958,9 @@
&per_node_boot_constraints =
source_node_boot_constraints_it->second.constraints;
- const std::pair<std::string, BootPairTimes> &prior_boot_time =
- source_boot_times[boot_id - 1];
- const std::string &prior_boot_uuid = prior_boot_time.first;
+ const std::tuple<std::string, BootPairTimes, BootPairTimes>
+ &prior_boot_time = source_boot_times[boot_id - 1];
+ const std::string &prior_boot_uuid = std::get<0>(prior_boot_time);
auto first_per_boot_constraints =
per_node_boot_constraints.find(prior_boot_uuid);
diff --git a/aos/events/logging/logfile_utils.cc b/aos/events/logging/logfile_utils.cc
index 0293aa1..ecdf5d6 100644
--- a/aos/events/logging/logfile_utils.cc
+++ b/aos/events/logging/logfile_utils.cc
@@ -50,6 +50,17 @@
"Some old log files have two headers at the beginning. Use the "
"last header as the actual header.");
+DEFINE_bool(crash_on_corrupt_message, true,
+ "When true, MessageReader will crash the first time a message "
+ "with corrupted format is found. When false, the crash will be "
+ "suppressed, and any remaining readable messages will be "
+ "evaluated to present verified vs corrupted stats.");
+
+DEFINE_bool(ignore_corrupt_messages, false,
+ "When true, and crash_on_corrupt_message is false, then any "
+ "corrupt message found by MessageReader be silently ignored, "
+ "providing access to all uncorrupted messages in a logfile.");
+
namespace aos::logger {
namespace {
@@ -336,15 +347,18 @@
return message_header_builder.Finish();
}
-SpanReader::SpanReader(std::string_view filename) : filename_(filename) {
+SpanReader::SpanReader(std::string_view filename, bool quiet)
+ : filename_(filename) {
decoder_ = std::make_unique<DummyDecoder>(filename);
static constexpr std::string_view kXz = ".xz";
static constexpr std::string_view kSnappy = SnappyDecoder::kExtension;
if (filename.substr(filename.size() - kXz.size()) == kXz) {
#if ENABLE_LZMA
- decoder_ = std::make_unique<ThreadedLzmaDecoder>(std::move(decoder_));
+ decoder_ =
+ std::make_unique<ThreadedLzmaDecoder>(std::move(decoder_), quiet);
#else
+ (void)quiet;
LOG(FATAL) << "Reading xz-compressed files not supported on this platform";
#endif
} else if (filename.substr(filename.size() - kSnappy.size()) == kSnappy) {
@@ -386,15 +400,19 @@
}
void SpanReader::ConsumeMessage() {
- consumed_data_ +=
+ size_t consumed_size =
flatbuffers::GetPrefixedSize(data_.data() + consumed_data_) +
sizeof(flatbuffers::uoffset_t);
+ consumed_data_ += consumed_size;
+ total_consumed_ += consumed_size;
}
absl::Span<const uint8_t> SpanReader::ReadMessage() {
absl::Span<const uint8_t> result = PeekMessage();
if (result != absl::Span<const uint8_t>()) {
ConsumeMessage();
+ } else {
+ is_finished_ = true;
}
return result;
}
@@ -424,6 +442,8 @@
return false;
}
+ total_read_ += count;
+
return true;
}
@@ -501,6 +521,9 @@
: span_reader_(filename),
raw_log_file_header_(
SizePrefixedFlatbufferVector<LogFileHeader>::Empty()) {
+ set_crash_on_corrupt_message_flag(FLAGS_crash_on_corrupt_message);
+ set_ignore_corrupt_messages_flag(FLAGS_ignore_corrupt_messages);
+
std::optional<SizePrefixedFlatbufferVector<LogFileHeader>>
raw_log_file_header = ReadHeader(&span_reader_);
@@ -511,6 +534,8 @@
CHECK(raw_log_file_header_.Verify()) << "Log file header is corrupted";
+ total_verified_before_ = span_reader_.TotalConsumed();
+
max_out_of_order_duration_ =
FLAGS_max_out_of_order > 0
? chrono::duration_cast<chrono::nanoseconds>(
@@ -524,11 +549,84 @@
std::shared_ptr<UnpackedMessageHeader> MessageReader::ReadMessage() {
absl::Span<const uint8_t> msg_data = span_reader_.ReadMessage();
if (msg_data == absl::Span<const uint8_t>()) {
+ if (is_corrupted()) {
+ LOG(ERROR) << "Total corrupted volumes: before = "
+ << total_verified_before_
+ << " | corrupted = " << total_corrupted_
+ << " | during = " << total_verified_during_
+ << " | after = " << total_verified_after_ << std::endl;
+ }
+
+ if (span_reader_.IsIncomplete()) {
+ LOG(ERROR) << "Unable to access some messages in " << filename()
+ << " : " << span_reader_.TotalRead() << " bytes read, "
+ << span_reader_.TotalConsumed() << " bytes usable."
+ << std::endl;
+ }
return nullptr;
}
SizePrefixedFlatbufferSpan<MessageHeader> msg(msg_data);
- CHECK(msg.Verify()) << ": Corrupted message from " << filename();
+
+ if (crash_on_corrupt_message_flag_) {
+ CHECK(msg.Verify()) << "Corrupted message at offset "
+ << total_verified_before_
+ << " found within " << filename()
+ << "; set --nocrash_on_corrupt_message to see summary;"
+ << " also set --ignore_corrupt_messages to process"
+ << " anyway";
+
+ } else if (!msg.Verify()) {
+ LOG(ERROR) << "Corrupted message at offset "
+ << total_verified_before_
+ << " from " << filename() << std::endl;
+
+ total_corrupted_ += msg_data.size();
+
+ while (true) {
+ absl::Span<const uint8_t> msg_data = span_reader_.ReadMessage();
+
+ if (msg_data == absl::Span<const uint8_t>()) {
+ if (!ignore_corrupt_messages_flag_) {
+ LOG(ERROR) << "Total corrupted volumes: before = "
+ << total_verified_before_
+ << " | corrupted = " << total_corrupted_
+ << " | during = " << total_verified_during_
+ << " | after = " << total_verified_after_ << std::endl;
+
+ if (span_reader_.IsIncomplete()) {
+ LOG(ERROR) << "Unable to access some messages in " << filename()
+ << " : " << span_reader_.TotalRead() << " bytes read, "
+ << span_reader_.TotalConsumed() << " bytes usable."
+ << std::endl;
+ }
+ return nullptr;
+ }
+ break;
+ }
+
+ SizePrefixedFlatbufferSpan<MessageHeader> next_msg(msg_data);
+
+ if (!next_msg.Verify()) {
+ total_corrupted_ += msg_data.size();
+ total_verified_during_ += total_verified_after_;
+ total_verified_after_ = 0;
+
+ } else {
+ total_verified_after_ += msg_data.size();
+ if (ignore_corrupt_messages_flag_) {
+ msg = next_msg;
+ break;
+ }
+ }
+ }
+ }
+
+ if (is_corrupted()) {
+ total_verified_after_ += msg_data.size();
+ } else {
+ total_verified_before_ += msg_data.size();
+ }
auto result = UnpackedMessageHeader::MakeMessage(msg.message());
diff --git a/aos/events/logging/logfile_utils.h b/aos/events/logging/logfile_utils.h
index 3a84726..41d4a9a 100644
--- a/aos/events/logging/logfile_utils.h
+++ b/aos/events/logging/logfile_utils.h
@@ -202,10 +202,15 @@
// Class to read chunks out of a log file.
class SpanReader {
public:
- SpanReader(std::string_view filename);
+ SpanReader(std::string_view filename, bool quiet = false);
std::string_view filename() const { return filename_; }
+ size_t TotalRead() const { return total_read_; }
+ size_t TotalConsumed() const { return total_consumed_; }
+ bool IsIncomplete() const { return is_finished_
+ && total_consumed_ < total_read_; }
+
// Returns a span with the data for the next message from the log file,
// including the size. The result is only guarenteed to be valid until
// ReadMessage() or PeekMessage() is called again.
@@ -240,6 +245,17 @@
// Amount of data consumed already in data_.
size_t consumed_data_ = 0;
+
+ // Accumulates the total volume of bytes read from filename_
+ size_t total_read_ = 0;
+
+ // Accumulates the total volume of read bytes that were 'consumed' into
+ // messages. May be less than total_read_, if the last message (span) is
+ // either truncated or somehow corrupt.
+ size_t total_consumed_ = 0;
+
+ // Reached the end, no more readable messages.
+ bool is_finished_ = false;
};
// Reads the last header from a log file. This handles any duplicate headers
@@ -293,6 +309,14 @@
return newest_timestamp() - max_out_of_order_duration();
}
+ // Flag value setters for testing
+ void set_crash_on_corrupt_message_flag(bool b) {
+ crash_on_corrupt_message_flag_ = b;
+ }
+ void set_ignore_corrupt_messages_flag(bool b) {
+ ignore_corrupt_messages_flag_ = b;
+ }
+
private:
// Log chunk reader.
SpanReader span_reader_;
@@ -306,6 +330,30 @@
// Timestamp of the newest message in a channel queue.
monotonic_clock::time_point newest_timestamp_ = monotonic_clock::min_time;
+
+ // Total volume of verifiable messages from the beginning of the file.
+ // TODO - are message counts also useful?
+ size_t total_verified_before_ = 0;
+
+ // Total volume of messages with corrupted flatbuffer formatting, if any.
+ // Excludes corrupted message content.
+ // TODO - if the layout included something as simple as a CRC (relatively
+ // fast and robust enough) for each span, then corrupted content could be
+ // included in this check.
+ size_t total_corrupted_ = 0;
+
+ // Total volume of verifiable messages intermixed with corrupted messages,
+ // if any. Will be == 0 if total_corrupted_ == 0.
+ size_t total_verified_during_ = 0;
+
+ // Total volume of verifiable messages found after the last corrupted one,
+ // if any. Will be == 0 if total_corrupted_ == 0.
+ size_t total_verified_after_ = 0;
+
+ bool is_corrupted() const { return total_corrupted_ > 0; }
+
+ bool crash_on_corrupt_message_flag_ = true;
+ bool ignore_corrupt_messages_flag_ = false;
};
// A class to seamlessly read messages from a list of part files.
diff --git a/aos/events/logging/logfile_utils_test.cc b/aos/events/logging/logfile_utils_test.cc
index 9be70c6..d024ae0 100644
--- a/aos/events/logging/logfile_utils_test.cc
+++ b/aos/events/logging/logfile_utils_test.cc
@@ -9,6 +9,7 @@
#include "aos/flatbuffers.h"
#include "aos/json_to_flatbuffer.h"
#include "aos/testing/tmpdir.h"
+#include "gflags/gflags.h"
#include "gtest/gtest.h"
namespace aos {
@@ -2506,6 +2507,319 @@
}
}
+class SortingDeathTest : public SortingElementTest {
+ public:
+ SortingDeathTest()
+ : SortingElementTest(),
+ part0_(MakeHeader(config_, R"({
+ /* 100ms */
+ "max_out_of_order_duration": 100000000,
+ "node": {
+ "name": "pi1"
+ },
+ "logger_node": {
+ "name": "pi1"
+ },
+ "monotonic_start_time": 1000000,
+ "realtime_start_time": 1000000000000,
+ "logger_monotonic_start_time": 1000000,
+ "logger_realtime_start_time": 1000000000000,
+ "log_event_uuid": "30ef1283-81d7-4004-8c36-1c162dbcb2b2",
+ "parts_uuid": "ee4f5a98-77d0-4e01-af2f-bbb29e098ede",
+ "parts_index": 0,
+ "logger_instance_uuid": "1c3142ad-10a5-408d-a760-b63b73d3b904",
+ "logger_node_boot_uuid": "a570df8b-5cc2-4dbe-89bd-286f9ddd02b7",
+ "source_node_boot_uuid": "a570df8b-5cc2-4dbe-89bd-286f9ddd02b7",
+ "boot_uuids": [
+ "a570df8b-5cc2-4dbe-89bd-286f9ddd02b7",
+ "6ba4f28d-21a2-4d7f-83f4-ee365cf86464",
+ ""
+ ],
+ "oldest_remote_monotonic_timestamps": [
+ 9223372036854775807,
+ 9223372036854775807,
+ 9223372036854775807
+ ],
+ "oldest_local_monotonic_timestamps": [
+ 9223372036854775807,
+ 9223372036854775807,
+ 9223372036854775807
+ ],
+ "oldest_remote_unreliable_monotonic_timestamps": [
+ 9223372036854775807,
+ 0,
+ 9223372036854775807
+ ],
+ "oldest_local_unreliable_monotonic_timestamps": [
+ 9223372036854775807,
+ 0,
+ 9223372036854775807
+ ]
+})")),
+ part1_(MakeHeader(config_, R"({
+ /* 100ms */
+ "max_out_of_order_duration": 100000000,
+ "node": {
+ "name": "pi1"
+ },
+ "logger_node": {
+ "name": "pi1"
+ },
+ "monotonic_start_time": 1000000,
+ "realtime_start_time": 1000000000000,
+ "logger_monotonic_start_time": 1000000,
+ "logger_realtime_start_time": 1000000000000,
+ "log_event_uuid": "30ef1283-81d7-4004-8c36-1c162dbcb2b2",
+ "parts_uuid": "ee4f5a98-77d0-4e01-af2f-bbb29e098ede",
+ "parts_index": 1,
+ "logger_instance_uuid": "1c3142ad-10a5-408d-a760-b63b73d3b904",
+ "logger_node_boot_uuid": "a570df8b-5cc2-4dbe-89bd-286f9ddd02b7",
+ "source_node_boot_uuid": "a570df8b-5cc2-4dbe-89bd-286f9ddd02b7",
+ "boot_uuids": [
+ "a570df8b-5cc2-4dbe-89bd-286f9ddd02b7",
+ "b728d27a-9181-4eac-bfc1-5d09b80469d2",
+ ""
+ ],
+ "oldest_remote_monotonic_timestamps": [
+ 9223372036854775807,
+ 9223372036854775807,
+ 9223372036854775807
+ ],
+ "oldest_local_monotonic_timestamps": [
+ 9223372036854775807,
+ 9223372036854775807,
+ 9223372036854775807
+ ],
+ "oldest_remote_unreliable_monotonic_timestamps": [
+ 9223372036854775807,
+ 100000,
+ 9223372036854775807
+ ],
+ "oldest_local_unreliable_monotonic_timestamps": [
+ 9223372036854775807,
+ 100000,
+ 9223372036854775807
+ ]
+})")),
+ part2_(MakeHeader(config_, R"({
+ /* 100ms */
+ "max_out_of_order_duration": 100000000,
+ "node": {
+ "name": "pi1"
+ },
+ "logger_node": {
+ "name": "pi1"
+ },
+ "monotonic_start_time": 1000000,
+ "realtime_start_time": 1000000000000,
+ "logger_monotonic_start_time": 1000000,
+ "logger_realtime_start_time": 1000000000000,
+ "log_event_uuid": "30ef1283-81d7-4004-8c36-1c162dbcb2b2",
+ "parts_uuid": "ee4f5a98-77d0-4e01-af2f-bbb29e098ede",
+ "parts_index": 2,
+ "logger_instance_uuid": "1c3142ad-10a5-408d-a760-b63b73d3b904",
+ "logger_node_boot_uuid": "a570df8b-5cc2-4dbe-89bd-286f9ddd02b7",
+ "source_node_boot_uuid": "a570df8b-5cc2-4dbe-89bd-286f9ddd02b7",
+ "boot_uuids": [
+ "a570df8b-5cc2-4dbe-89bd-286f9ddd02b7",
+ "6ba4f28d-21a2-4d7f-83f4-ee365cf86464",
+ ""
+ ],
+ "oldest_remote_monotonic_timestamps": [
+ 9223372036854775807,
+ 9223372036854775807,
+ 9223372036854775807
+ ],
+ "oldest_local_monotonic_timestamps": [
+ 9223372036854775807,
+ 9223372036854775807,
+ 9223372036854775807
+ ],
+ "oldest_remote_unreliable_monotonic_timestamps": [
+ 9223372036854775807,
+ 200000,
+ 9223372036854775807
+ ],
+ "oldest_local_unreliable_monotonic_timestamps": [
+ 9223372036854775807,
+ 200000,
+ 9223372036854775807
+ ]
+})")),
+ part3_(MakeHeader(config_, R"({
+ /* 100ms */
+ "max_out_of_order_duration": 100000000,
+ "node": {
+ "name": "pi1"
+ },
+ "logger_node": {
+ "name": "pi1"
+ },
+ "monotonic_start_time": 1000000,
+ "realtime_start_time": 1000000000000,
+ "logger_monotonic_start_time": 1000000,
+ "logger_realtime_start_time": 1000000000000,
+ "log_event_uuid": "30ef1283-81d7-4004-8c36-1c162dbcb2b2",
+ "parts_uuid": "ee4f5a98-77d0-4e01-af2f-bbb29e098ede",
+ "parts_index": 3,
+ "logger_instance_uuid": "1c3142ad-10a5-408d-a760-b63b73d3b904",
+ "logger_node_boot_uuid": "a570df8b-5cc2-4dbe-89bd-286f9ddd02b7",
+ "source_node_boot_uuid": "a570df8b-5cc2-4dbe-89bd-286f9ddd02b7",
+ "boot_uuids": [
+ "a570df8b-5cc2-4dbe-89bd-286f9ddd02b7",
+ "b728d27a-9181-4eac-bfc1-5d09b80469d2",
+ ""
+ ],
+ "oldest_remote_monotonic_timestamps": [
+ 9223372036854775807,
+ 9223372036854775807,
+ 9223372036854775807
+ ],
+ "oldest_local_monotonic_timestamps": [
+ 9223372036854775807,
+ 9223372036854775807,
+ 9223372036854775807
+ ],
+ "oldest_remote_unreliable_monotonic_timestamps": [
+ 9223372036854775807,
+ 300000,
+ 9223372036854775807
+ ],
+ "oldest_local_unreliable_monotonic_timestamps": [
+ 9223372036854775807,
+ 300000,
+ 9223372036854775807
+ ]
+})")) {}
+
+ protected:
+ const aos::SizePrefixedFlatbufferDetachedBuffer<LogFileHeader> part0_;
+ const aos::SizePrefixedFlatbufferDetachedBuffer<LogFileHeader> part1_;
+ const aos::SizePrefixedFlatbufferDetachedBuffer<LogFileHeader> part2_;
+ const aos::SizePrefixedFlatbufferDetachedBuffer<LogFileHeader> part3_;
+};
+
+// Tests that if 2 computers go back and forth trying to be the same node, we
+// die in sorting instead of failing to estimate time.
+TEST_F(SortingDeathTest, FightingNodes) {
+ {
+ DetachedBufferWriter writer0(logfile0_, std::make_unique<DummyEncoder>());
+ writer0.QueueSpan(part0_.span());
+ DetachedBufferWriter writer1(logfile1_, std::make_unique<DummyEncoder>());
+ writer1.QueueSpan(part1_.span());
+ DetachedBufferWriter writer2(logfile2_, std::make_unique<DummyEncoder>());
+ writer2.QueueSpan(part2_.span());
+ DetachedBufferWriter writer3(logfile3_, std::make_unique<DummyEncoder>());
+ writer3.QueueSpan(part3_.span());
+ }
+
+ EXPECT_DEATH(
+ {
+ const std::vector<LogFile> parts =
+ SortParts({logfile0_, logfile1_, logfile2_, logfile3_});
+ },
+ "Found overlapping boots on");
+}
+
+// Tests that we MessageReader blows up on a bad message.
+TEST(MessageReaderConfirmCrash, ReadWrite) {
+ const std::string logfile = aos::testing::TestTmpDir() + "/log.bfbs";
+ unlink(logfile.c_str());
+
+ const aos::SizePrefixedFlatbufferDetachedBuffer<LogFileHeader> config =
+ JsonToSizedFlatbuffer<LogFileHeader>(
+ R"({ "max_out_of_order_duration": 100000000 })");
+ const aos::SizePrefixedFlatbufferDetachedBuffer<MessageHeader> m1 =
+ JsonToSizedFlatbuffer<MessageHeader>(
+ R"({ "channel_index": 0, "monotonic_sent_time": 1 })");
+ const aos::SizePrefixedFlatbufferDetachedBuffer<MessageHeader> m2 =
+ JsonToSizedFlatbuffer<MessageHeader>(
+ R"({ "channel_index": 0, "monotonic_sent_time": 2 })");
+ const aos::SizePrefixedFlatbufferDetachedBuffer<MessageHeader> m4 =
+ JsonToSizedFlatbuffer<MessageHeader>(
+ R"({ "channel_index": 0, "monotonic_sent_time": 4 })");
+
+ // Starts out like a proper flat buffer header, but it breaks down ...
+ std::vector<uint8_t> garbage{8, 0, 0, 0, 16, 0, 0, 0, 4, 0, 0, 0};
+ absl::Span<uint8_t> m3_span(garbage);
+
+ {
+ DetachedBufferWriter writer(logfile, std::make_unique<DummyEncoder>());
+ writer.QueueSpan(config.span());
+ writer.QueueSpan(m1.span());
+ writer.QueueSpan(m2.span());
+ writer.QueueSpan(m3_span);
+ writer.QueueSpan(m4.span()); // This message is "hidden"
+ }
+
+ {
+ MessageReader reader(logfile);
+
+ EXPECT_EQ(reader.filename(), logfile);
+
+ EXPECT_EQ(
+ reader.max_out_of_order_duration(),
+ std::chrono::nanoseconds(config.message().max_out_of_order_duration()));
+ EXPECT_EQ(reader.newest_timestamp(), monotonic_clock::min_time);
+ EXPECT_TRUE(reader.ReadMessage());
+ EXPECT_EQ(reader.newest_timestamp(),
+ monotonic_clock::time_point(chrono::nanoseconds(1)));
+ EXPECT_TRUE(reader.ReadMessage());
+ EXPECT_EQ(reader.newest_timestamp(),
+ monotonic_clock::time_point(chrono::nanoseconds(2)));
+ // Confirm default crashing behavior
+ EXPECT_DEATH(reader.ReadMessage(), "Corrupted message at offset");
+ }
+
+ {
+ gflags::FlagSaver fs;
+
+ MessageReader reader(logfile);
+ reader.set_crash_on_corrupt_message_flag(false);
+
+ EXPECT_EQ(reader.filename(), logfile);
+
+ EXPECT_EQ(
+ reader.max_out_of_order_duration(),
+ std::chrono::nanoseconds(config.message().max_out_of_order_duration()));
+ EXPECT_EQ(reader.newest_timestamp(), monotonic_clock::min_time);
+ EXPECT_TRUE(reader.ReadMessage());
+ EXPECT_EQ(reader.newest_timestamp(),
+ monotonic_clock::time_point(chrono::nanoseconds(1)));
+ EXPECT_TRUE(reader.ReadMessage());
+ EXPECT_EQ(reader.newest_timestamp(),
+ monotonic_clock::time_point(chrono::nanoseconds(2)));
+ // Confirm avoiding the corrupted message crash, stopping instead.
+ EXPECT_FALSE(reader.ReadMessage());
+ }
+
+ {
+ gflags::FlagSaver fs;
+
+ MessageReader reader(logfile);
+ reader.set_crash_on_corrupt_message_flag(false);
+ reader.set_ignore_corrupt_messages_flag(true);
+
+ EXPECT_EQ(reader.filename(), logfile);
+
+ EXPECT_EQ(
+ reader.max_out_of_order_duration(),
+ std::chrono::nanoseconds(config.message().max_out_of_order_duration()));
+ EXPECT_EQ(reader.newest_timestamp(), monotonic_clock::min_time);
+ EXPECT_TRUE(reader.ReadMessage());
+ EXPECT_EQ(reader.newest_timestamp(),
+ monotonic_clock::time_point(chrono::nanoseconds(1)));
+ EXPECT_TRUE(reader.ReadMessage());
+ EXPECT_EQ(reader.newest_timestamp(),
+ monotonic_clock::time_point(chrono::nanoseconds(2)));
+ // Confirm skipping of the corrupted message to read the hidden one.
+ EXPECT_TRUE(reader.ReadMessage());
+ EXPECT_EQ(reader.newest_timestamp(),
+ monotonic_clock::time_point(chrono::nanoseconds(4)));
+ EXPECT_FALSE(reader.ReadMessage());
+ }
+}
+
} // namespace testing
} // namespace logger
} // namespace aos
diff --git a/aos/events/logging/logger_test.cc b/aos/events/logging/logger_test.cc
index 7bf9478..7a569eb 100644
--- a/aos/events/logging/logger_test.cc
+++ b/aos/events/logging/logger_test.cc
@@ -3,8 +3,8 @@
#include "absl/strings/str_format.h"
#include "aos/events/event_loop.h"
#include "aos/events/logging/log_reader.h"
-#include "aos/events/logging/snappy_encoder.h"
#include "aos/events/logging/log_writer.h"
+#include "aos/events/logging/snappy_encoder.h"
#include "aos/events/message_counter.h"
#include "aos/events/ping_lib.h"
#include "aos/events/pong_lib.h"
@@ -168,15 +168,15 @@
Logger logger(logger_event_loop.get());
logger.set_polling_period(std::chrono::milliseconds(100));
- logger_event_loop->OnRun(
- [base_name1, base_name2, &logger_event_loop, &logger]() {
+ logger_event_loop->OnRun([base_name1, base_name2, &logger_event_loop,
+ &logger]() {
+ logger.StartLogging(std::make_unique<LocalLogNamer>(
+ base_name1, logger_event_loop.get(), logger_event_loop->node()));
+ EXPECT_DEATH(
logger.StartLogging(std::make_unique<LocalLogNamer>(
- base_name1, logger_event_loop.get(), logger_event_loop->node()));
- EXPECT_DEATH(logger.StartLogging(std::make_unique<LocalLogNamer>(
- base_name2, logger_event_loop.get(),
- logger_event_loop->node())),
- "Already logging");
- });
+ base_name2, logger_event_loop.get(), logger_event_loop->node())),
+ "Already logging");
+ });
event_loop_factory_.RunFor(chrono::milliseconds(20000));
}
}
@@ -398,7 +398,8 @@
ping_sender.MakeBuilder();
examples::Ping::Builder ping_builder =
builder.MakeBuilder<examples::Ping>();
- CHECK(builder.Send(ping_builder.Finish()));
+ CHECK_EQ(builder.Send(ping_builder.Finish()),
+ RawSender::Error::kOk);
});
// 100 ms / 0.05 ms -> 2000 messages. Should be enough to crash it.
@@ -2272,7 +2273,7 @@
}
// Test that renaming the base, renames the folder.
-TEST_F(MultinodeLoggerTest, LoggerRenameFolder) {
+TEST_P(MultinodeLoggerTest, LoggerRenameFolder) {
util::UnlinkRecursive(tmp_dir_ + "/renamefolder");
util::UnlinkRecursive(tmp_dir_ + "/new-good");
time_converter_.AddMonotonic(
@@ -2613,9 +2614,9 @@
}
constexpr std::string_view kCombinedConfigSha1(
- "cad3b6838a518ab29470771a959b89945ee034bc7a738080fd1713a1dce51b1f");
+ "9e07da76098ad1b755a7c3143aca300d66b6abb88745f6c36e603ef1441f0ad5");
constexpr std::string_view kSplitConfigSha1(
- "aafdd7e43d1942cce5b3e2dd8c6b9706abf7068a43501625a33b7cdfddf6c932");
+ "85ef8be228bf4eb36f4d64ba68183b2a9a616bfb9b057e430d61e33bd273df86");
INSTANTIATE_TEST_SUITE_P(
All, MultinodeLoggerTest,
diff --git a/aos/events/logging/lzma_encoder.cc b/aos/events/logging/lzma_encoder.cc
index e9915af..f32d7e2 100644
--- a/aos/events/logging/lzma_encoder.cc
+++ b/aos/events/logging/lzma_encoder.cc
@@ -149,9 +149,11 @@
total_bytes_ += last_avail_out - stream_.avail_out;
}
-LzmaDecoder::LzmaDecoder(std::unique_ptr<DataDecoder> underlying_decoder)
+LzmaDecoder::LzmaDecoder(std::unique_ptr<DataDecoder> underlying_decoder,
+ bool quiet)
: underlying_decoder_(std::move(underlying_decoder)),
- stream_(LZMA_STREAM_INIT) {
+ stream_(LZMA_STREAM_INIT),
+ quiet_(quiet) {
compressed_data_.resize(kBufSize);
lzma_ret status =
@@ -200,9 +202,13 @@
if (!LzmaCodeIsOk(status, filename())) {
finished_ = true;
if (status == LZMA_DATA_ERROR) {
- LOG(WARNING) << filename() << " is corrupted.";
+ if (!quiet_ || VLOG_IS_ON(1)) {
+ LOG(WARNING) << filename() << " is corrupted.";
+ }
} else if (status == LZMA_BUF_ERROR) {
- LOG(WARNING) << filename() << " is truncated or corrupted.";
+ if (!quiet_ || VLOG_IS_ON(1)) {
+ LOG(WARNING) << filename() << " is truncated or corrupted.";
+ }
} else {
LOG(FATAL) << "Unknown error " << status << " when reading "
<< filename();
@@ -214,8 +220,8 @@
}
ThreadedLzmaDecoder::ThreadedLzmaDecoder(
- std::unique_ptr<DataDecoder> underlying_decoder)
- : decoder_(std::move(underlying_decoder)), decode_thread_([this] {
+ std::unique_ptr<DataDecoder> underlying_decoder, bool quiet)
+ : decoder_(std::move(underlying_decoder), quiet), decode_thread_([this] {
std::unique_lock lock(decode_mutex_);
while (true) {
// Wake if the queue is too small or we are finished.
diff --git a/aos/events/logging/lzma_encoder.h b/aos/events/logging/lzma_encoder.h
index fc6fcb6..7b7010a 100644
--- a/aos/events/logging/lzma_encoder.h
+++ b/aos/events/logging/lzma_encoder.h
@@ -54,9 +54,10 @@
public:
static constexpr std::string_view kExtension = ".xz";
- explicit LzmaDecoder(std::unique_ptr<DataDecoder> underlying_decoder);
- explicit LzmaDecoder(std::string_view filename)
- : LzmaDecoder(std::make_unique<DummyDecoder>(filename)) {}
+ explicit LzmaDecoder(std::unique_ptr<DataDecoder> underlying_decoder,
+ bool quiet = false);
+ explicit LzmaDecoder(std::string_view filename, bool quiet = false)
+ : LzmaDecoder(std::make_unique<DummyDecoder>(filename), quiet) {}
LzmaDecoder(const LzmaDecoder &) = delete;
LzmaDecoder(LzmaDecoder &&other) = delete;
LzmaDecoder &operator=(const LzmaDecoder &) = delete;
@@ -84,6 +85,9 @@
// Flag that represents whether or not all the data from the file has been
// successfully decoded.
bool finished_ = false;
+ // Flag to signal how quiet to be when logging potential issues around
+ // truncation.
+ const bool quiet_ = false;
};
// Decompresses data with liblzma in a new thread, up to a maximum queue
@@ -91,9 +95,10 @@
// or block until more data is queued or the stream finishes.
class ThreadedLzmaDecoder : public DataDecoder {
public:
- explicit ThreadedLzmaDecoder(std::string_view filename)
- : ThreadedLzmaDecoder(std::make_unique<DummyDecoder>(filename)) {}
- explicit ThreadedLzmaDecoder(std::unique_ptr<DataDecoder> underlying_decoder);
+ explicit ThreadedLzmaDecoder(std::string_view filename, bool quiet = false)
+ : ThreadedLzmaDecoder(std::make_unique<DummyDecoder>(filename), quiet) {}
+ explicit ThreadedLzmaDecoder(std::unique_ptr<DataDecoder> underlying_decoder,
+ bool quiet = false);
ThreadedLzmaDecoder(const ThreadedLzmaDecoder &) = delete;
ThreadedLzmaDecoder &operator=(const ThreadedLzmaDecoder &) = delete;
diff --git a/aos/events/ping_lib.cc b/aos/events/ping_lib.cc
index 7a0bfec..900ed0d 100644
--- a/aos/events/ping_lib.cc
+++ b/aos/events/ping_lib.cc
@@ -36,7 +36,7 @@
ping_builder.add_value(count_);
ping_builder.add_send_time(
event_loop_->monotonic_now().time_since_epoch().count());
- CHECK(builder.Send(ping_builder.Finish()));
+ builder.CheckOk(builder.Send(ping_builder.Finish()));
VLOG(2) << "Sending ping";
}
diff --git a/aos/events/pong_lib.cc b/aos/events/pong_lib.cc
index 9d7731d..9f1c855 100644
--- a/aos/events/pong_lib.cc
+++ b/aos/events/pong_lib.cc
@@ -16,7 +16,7 @@
builder.MakeBuilder<examples::Pong>();
pong_builder.add_value(ping.value());
pong_builder.add_initial_send_time(ping.send_time());
- CHECK(builder.Send(pong_builder.Finish()));
+ builder.CheckOk(builder.Send(pong_builder.Finish()));
});
event_loop_->SetRuntimeRealtimePriority(5);
diff --git a/aos/events/shm_event_loop.cc b/aos/events/shm_event_loop.cc
index a215040..ed3d099 100644
--- a/aos/events/shm_event_loop.cc
+++ b/aos/events/shm_event_loop.cc
@@ -547,11 +547,12 @@
shm_event_loop()->CheckCurrentThread();
return lockless_queue_sender_.size();
}
- bool DoSend(size_t length,
- aos::monotonic_clock::time_point monotonic_remote_time,
- aos::realtime_clock::time_point realtime_remote_time,
- uint32_t remote_queue_index,
- const UUID &source_boot_uuid) override {
+
+ Error DoSend(size_t length,
+ aos::monotonic_clock::time_point monotonic_remote_time,
+ aos::realtime_clock::time_point realtime_remote_time,
+ uint32_t remote_queue_index,
+ const UUID &source_boot_uuid) override {
shm_event_loop()->CheckCurrentThread();
CHECK_LE(length, static_cast<size_t>(channel()->max_size()))
<< ": Sent too big a message on "
@@ -565,14 +566,15 @@
wake_upper_.Wakeup(event_loop()->is_running() ? event_loop()->priority()
: 0);
- return true;
+ // TODO(Milind): check for messages sent too fast
+ return Error::kOk;
}
- bool DoSend(const void *msg, size_t length,
- aos::monotonic_clock::time_point monotonic_remote_time,
- aos::realtime_clock::time_point realtime_remote_time,
- uint32_t remote_queue_index,
- const UUID &source_boot_uuid) override {
+ Error DoSend(const void *msg, size_t length,
+ aos::monotonic_clock::time_point monotonic_remote_time,
+ aos::realtime_clock::time_point realtime_remote_time,
+ uint32_t remote_queue_index,
+ const UUID &source_boot_uuid) override {
shm_event_loop()->CheckCurrentThread();
CHECK_LE(length, static_cast<size_t>(channel()->max_size()))
<< ": Sent too big a message on "
@@ -586,7 +588,7 @@
wake_upper_.Wakeup(event_loop()->is_running() ? event_loop()->priority()
: 0);
// TODO(austin): Return an error if we send too fast.
- return true;
+ return RawSender::Error::kOk;
}
absl::Span<char> GetSharedMemory() const {
diff --git a/aos/events/shm_event_loop_test.cc b/aos/events/shm_event_loop_test.cc
index 7e1444b..01ca92b 100644
--- a/aos/events/shm_event_loop_test.cc
+++ b/aos/events/shm_event_loop_test.cc
@@ -144,7 +144,7 @@
aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
builder.add_value(200);
- msg.Send(builder.Finish());
+ msg.CheckOk(msg.Send(builder.Finish()));
}
EXPECT_FALSE(IsRealtime());
@@ -185,7 +185,7 @@
aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
builder.add_value(200);
- msg.Send(builder.Finish());
+ msg.CheckOk(msg.Send(builder.Finish()));
});
factory()->Run();
@@ -280,7 +280,7 @@
auto builder = sender.MakeBuilder();
TestMessage::Builder test_builder(*builder.fbb());
test_builder.add_value(1);
- CHECK(builder.Send(test_builder.Finish()));
+ builder.CheckOk(builder.Send(test_builder.Finish()));
});
factory()->Run();
EXPECT_TRUE(ran);
@@ -317,7 +317,7 @@
auto builder = sender.MakeBuilder();
TestMessage::Builder test_builder(*builder.fbb());
test_builder.add_value(1);
- CHECK(builder.Send(test_builder.Finish()));
+ builder.CheckOk(builder.Send(test_builder.Finish()));
}
ASSERT_TRUE(fetcher.Fetch());
@@ -336,13 +336,13 @@
EXPECT_DEATH(
{
++static_cast<char *>(sender->data())[-1 - i];
- sender->Send(0);
+ sender->CheckOk(sender->Send(0));
},
"Somebody wrote outside the buffer of their message");
EXPECT_DEATH(
{
++static_cast<char *>(sender->data())[sender->size() + i];
- sender->Send(0);
+ sender->CheckOk(sender->Send(0));
},
"Somebody wrote outside the buffer of their message");
}
@@ -361,7 +361,7 @@
auto builder = sender.MakeBuilder();
TestMessage::Builder test_builder(*builder.fbb());
test_builder.add_value(0);
- CHECK(builder.Send(test_builder.Finish()));
+ builder.CheckOk(builder.Send(test_builder.Finish()));
}
EXPECT_DEATH(fetcher.FetchNext(),
"The next message is no longer "
@@ -387,7 +387,7 @@
auto builder = sender.MakeBuilder();
TestMessage::Builder test_builder(*builder.fbb());
test_builder.add_value(0);
- CHECK(builder.Send(test_builder.Finish()));
+ builder.CheckOk(builder.Send(test_builder.Finish()));
}
EXPECT_DEATH(fetcher.FetchNext(),
"The next message is no longer "
@@ -410,7 +410,7 @@
auto builder = sender.MakeBuilder();
TestMessage::Builder test_builder(*builder.fbb());
test_builder.add_value(0);
- CHECK(builder.Send(test_builder.Finish()));
+ builder.CheckOk(builder.Send(test_builder.Finish()));
}
EXPECT_DEATH(fetcher.FetchNext(),
"The next message is no longer "
@@ -429,7 +429,7 @@
auto builder = sender.MakeBuilder();
TestMessage::Builder test_builder(*builder.fbb());
test_builder.add_value(0);
- CHECK(builder.Send(test_builder.Finish()));
+ builder.CheckOk(builder.Send(test_builder.Finish()));
}
EXPECT_DEATH(fetcher.FetchNext(),
"The next message is no longer "
diff --git a/aos/events/simulated_event_loop.cc b/aos/events/simulated_event_loop.cc
index 9e12481..2a276e7 100644
--- a/aos/events/simulated_event_loop.cc
+++ b/aos/events/simulated_event_loop.cc
@@ -2,6 +2,8 @@
#include <algorithm>
#include <deque>
+#include <optional>
+#include <queue>
#include <string_view>
#include <vector>
@@ -110,7 +112,7 @@
// TODO(Brian): This should be in the anonymous namespace, but that annoys GCC
// for some reason...
-class SimulatedWatcher : public WatcherState {
+class SimulatedWatcher : public WatcherState, public EventScheduler::Event {
public:
SimulatedWatcher(
SimulatedEventLoop *simulated_event_loop, EventScheduler *scheduler,
@@ -121,11 +123,13 @@
bool has_run() const;
+ void Handle() noexcept override;
+
void Startup(EventLoop * /*event_loop*/) override {}
void Schedule(std::shared_ptr<SimulatedMessage> message);
- void HandleEvent();
+ void HandleEvent() noexcept;
void SetSimulatedChannel(SimulatedChannel *channel) {
simulated_channel_ = channel;
@@ -151,9 +155,9 @@
: channel_(channel),
channel_storage_duration_(channel_storage_duration),
next_queue_index_(ipc_lib::QueueIndex::Zero(number_buffers())) {
- available_buffer_indices_.reserve(number_buffers());
+ available_buffer_indices_.resize(number_buffers());
for (int i = 0; i < number_buffers(); ++i) {
- available_buffer_indices_.push_back(i);
+ available_buffer_indices_[i] = i;
}
}
@@ -177,6 +181,10 @@
.count();
}
+ std::chrono::nanoseconds channel_storage_duration() const {
+ return channel_storage_duration_;
+ }
+
// The number of extra buffers (beyond the queue) we pretend to have.
int number_scratch_buffers() const {
// We need to start creating messages before we know how many
@@ -220,8 +228,8 @@
}
// Sends the message to all the connected receivers and fetchers. Returns the
- // sent queue index.
- uint32_t Send(std::shared_ptr<SimulatedMessage> message);
+ // sent queue index, or std::nullopt if messages were sent too fast.
+ std::optional<uint32_t> Send(std::shared_ptr<SimulatedMessage> message);
// Unregisters a fetcher.
void UnregisterFetcher(SimulatedFetcher *fetcher);
@@ -334,22 +342,22 @@
size_t size() override { return simulated_channel_->max_size(); }
- bool DoSend(size_t length, monotonic_clock::time_point monotonic_remote_time,
- realtime_clock::time_point realtime_remote_time,
- uint32_t remote_queue_index,
- const UUID &source_boot_uuid) override;
+ Error DoSend(size_t length, monotonic_clock::time_point monotonic_remote_time,
+ realtime_clock::time_point realtime_remote_time,
+ uint32_t remote_queue_index,
+ const UUID &source_boot_uuid) override;
- bool DoSend(const void *msg, size_t size,
- monotonic_clock::time_point monotonic_remote_time,
- realtime_clock::time_point realtime_remote_time,
- uint32_t remote_queue_index,
- const UUID &source_boot_uuid) override;
+ Error DoSend(const void *msg, size_t size,
+ monotonic_clock::time_point monotonic_remote_time,
+ realtime_clock::time_point realtime_remote_time,
+ uint32_t remote_queue_index,
+ const UUID &source_boot_uuid) override;
- bool DoSend(const SharedSpan data,
- aos::monotonic_clock::time_point monotonic_remote_time,
- aos::realtime_clock::time_point realtime_remote_time,
- uint32_t remote_queue_index,
- const UUID &source_boot_uuid) override;
+ Error DoSend(const SharedSpan data,
+ aos::monotonic_clock::time_point monotonic_remote_time,
+ aos::realtime_clock::time_point realtime_remote_time,
+ uint32_t remote_queue_index,
+ const UUID &source_boot_uuid) override;
int buffer_index() override {
// First, ensure message_ is allocated.
@@ -418,7 +426,7 @@
// Updates the state inside RawFetcher to point to the data in msg_.
void SetMsg(std::shared_ptr<SimulatedMessage> msg) {
- msg_ = msg;
+ msg_ = std::move(msg);
context_ = msg_->context;
if (channel()->read_method() != ReadMethod::PIN) {
context_.buffer_index = -1;
@@ -436,7 +444,7 @@
// Internal method for Simulation to add a message to the buffer.
void Enqueue(std::shared_ptr<SimulatedMessage> buffer) {
- msgs_.emplace_back(buffer);
+ msgs_.emplace_back(std::move(buffer));
if (fell_behind_ ||
msgs_.size() > static_cast<size_t>(simulated_channel_->queue_size())) {
fell_behind_ = true;
@@ -457,7 +465,8 @@
bool fell_behind_ = false;
};
-class SimulatedTimerHandler : public TimerHandler {
+class SimulatedTimerHandler : public TimerHandler,
+ public EventScheduler::Event {
public:
explicit SimulatedTimerHandler(EventScheduler *scheduler,
SimulatedEventLoop *simulated_event_loop,
@@ -467,7 +476,9 @@
void Setup(monotonic_clock::time_point base,
monotonic_clock::duration repeat_offset) override;
- void HandleEvent();
+ void HandleEvent() noexcept;
+
+ void Handle() noexcept override;
void Disable() override;
@@ -481,7 +492,8 @@
monotonic_clock::duration repeat_offset_;
};
-class SimulatedPhasedLoopHandler : public PhasedLoopHandler {
+class SimulatedPhasedLoopHandler : public PhasedLoopHandler,
+ public EventScheduler::Event {
public:
SimulatedPhasedLoopHandler(EventScheduler *scheduler,
SimulatedEventLoop *simulated_event_loop,
@@ -490,10 +502,12 @@
const monotonic_clock::duration offset);
~SimulatedPhasedLoopHandler();
- void HandleEvent();
+ void HandleEvent() noexcept;
void Schedule(monotonic_clock::time_point sleep_time) override;
+ void Handle() noexcept override;
+
private:
SimulatedEventLoop *simulated_event_loop_;
EventHandler<SimulatedPhasedLoopHandler> event_;
@@ -831,10 +845,10 @@
DoSchedule(event_time);
}
- msgs_.emplace_back(message);
+ msgs_.emplace_back(std::move(message));
}
-void SimulatedWatcher::HandleEvent() {
+void SimulatedWatcher::HandleEvent() noexcept {
const monotonic_clock::time_point monotonic_now =
simulated_event_loop_->monotonic_now();
VLOG(1) << simulated_event_loop_->distributed_now() << " "
@@ -881,15 +895,17 @@
}
}
+void SimulatedWatcher::Handle() noexcept {
+ DCHECK(token_ != scheduler_->InvalidToken());
+ token_ = scheduler_->InvalidToken();
+ simulated_event_loop_->HandleEvent();
+}
+
void SimulatedWatcher::DoSchedule(monotonic_clock::time_point event_time) {
CHECK(token_ == scheduler_->InvalidToken())
<< ": May not schedule multiple times";
token_ = scheduler_->Schedule(
- event_time + simulated_event_loop_->send_delay(), [this]() {
- DCHECK(token_ != scheduler_->InvalidToken());
- token_ = scheduler_->InvalidToken();
- simulated_event_loop_->HandleEvent();
- });
+ event_time + simulated_event_loop_->send_delay(), this);
}
void SimulatedChannel::MakeRawWatcher(SimulatedWatcher *watcher) {
@@ -912,10 +928,11 @@
return ::std::move(fetcher);
}
-uint32_t SimulatedChannel::Send(std::shared_ptr<SimulatedMessage> message) {
- const uint32_t queue_index = next_queue_index_.index();
- message->context.queue_index = queue_index;
+std::optional<uint32_t> SimulatedChannel::Send(
+ std::shared_ptr<SimulatedMessage> message) {
+ std::optional<uint32_t> queue_index = {next_queue_index_.index()};
+ message->context.queue_index = *queue_index;
// Points to the actual data depending on the size set in context. Data may
// allocate more than the actual size of the message, so offset from the back
// of that to get the actual start of the data.
@@ -934,16 +951,15 @@
next_queue_index_ = next_queue_index_.Increment();
- latest_message_ = message;
+ latest_message_ = std::move(message);
for (SimulatedWatcher *watcher : watchers_) {
if (watcher->has_run()) {
- watcher->Schedule(message);
+ watcher->Schedule(latest_message_);
}
}
for (auto &fetcher : fetchers_) {
- fetcher->Enqueue(message);
+ fetcher->Enqueue(latest_message_);
}
-
return queue_index;
}
@@ -963,11 +979,10 @@
simulated_channel_->CountSenderDestroyed();
}
-bool SimulatedSender::DoSend(size_t length,
- monotonic_clock::time_point monotonic_remote_time,
- realtime_clock::time_point realtime_remote_time,
- uint32_t remote_queue_index,
- const UUID &source_boot_uuid) {
+RawSender::Error SimulatedSender::DoSend(
+ size_t length, monotonic_clock::time_point monotonic_remote_time,
+ realtime_clock::time_point realtime_remote_time,
+ uint32_t remote_queue_index, const UUID &source_boot_uuid) {
VLOG(1) << simulated_event_loop_->distributed_now() << " "
<< NodeName(simulated_event_loop_->node())
<< simulated_event_loop_->monotonic_now() << " "
@@ -988,8 +1003,31 @@
CHECK_LE(length, message_->context.size);
message_->context.size = length;
- // TODO(austin): Track sending too fast.
- sent_queue_index_ = simulated_channel_->Send(message_);
+ const std::optional<uint32_t> optional_queue_index =
+ simulated_channel_->Send(message_);
+
+ // Check that we are not sending messages too fast
+ if (!optional_queue_index) {
+ VLOG(1) << simulated_event_loop_->distributed_now() << " "
+ << NodeName(simulated_event_loop_->node())
+ << simulated_event_loop_->monotonic_now() << " "
+ << simulated_event_loop_->name()
+ << "\nMessages were sent too fast:\n"
+ << "For channel: "
+ << configuration::CleanedChannelToString(
+ simulated_channel_->channel())
+ << '\n'
+ << "Tried to send more than " << simulated_channel_->queue_size()
+ << " (queue size) messages in the last "
+ << std::chrono::duration<double>(
+ simulated_channel_->channel_storage_duration())
+ .count()
+ << " seconds (channel storage duration)"
+ << "\n\n";
+ return Error::kMessagesSentTooFast;
+ }
+
+ sent_queue_index_ = *optional_queue_index;
monotonic_sent_time_ = simulated_event_loop_->monotonic_now();
realtime_sent_time_ = simulated_event_loop_->realtime_now();
@@ -997,14 +1035,14 @@
// next time. Otherwise we will continue to reuse the same memory for all
// messages and corrupt it.
message_.reset();
- return true;
+ return Error::kOk;
}
-bool SimulatedSender::DoSend(const void *msg, size_t size,
- monotonic_clock::time_point monotonic_remote_time,
- realtime_clock::time_point realtime_remote_time,
- uint32_t remote_queue_index,
- const UUID &source_boot_uuid) {
+RawSender::Error SimulatedSender::DoSend(
+ const void *msg, size_t size,
+ monotonic_clock::time_point monotonic_remote_time,
+ realtime_clock::time_point realtime_remote_time,
+ uint32_t remote_queue_index, const UUID &source_boot_uuid) {
CHECK_LE(size, this->size())
<< ": Attempting to send too big a message on "
<< configuration::CleanedChannelToString(simulated_channel_->channel());
@@ -1021,11 +1059,11 @@
remote_queue_index, source_boot_uuid);
}
-bool SimulatedSender::DoSend(const RawSender::SharedSpan data,
- monotonic_clock::time_point monotonic_remote_time,
- realtime_clock::time_point realtime_remote_time,
- uint32_t remote_queue_index,
- const UUID &source_boot_uuid) {
+RawSender::Error SimulatedSender::DoSend(
+ const RawSender::SharedSpan data,
+ monotonic_clock::time_point monotonic_remote_time,
+ realtime_clock::time_point realtime_remote_time,
+ uint32_t remote_queue_index, const UUID &source_boot_uuid) {
CHECK_LE(data->size(), this->size())
<< ": Attempting to send too big a message on "
<< configuration::CleanedChannelToString(simulated_channel_->channel());
@@ -1057,16 +1095,18 @@
simulated_event_loop_->monotonic_now();
base_ = base;
repeat_offset_ = repeat_offset;
- token_ = scheduler_->Schedule(std::max(base, monotonic_now), [this]() {
- DCHECK(token_ != scheduler_->InvalidToken());
- token_ = scheduler_->InvalidToken();
- simulated_event_loop_->HandleEvent();
- });
+ token_ = scheduler_->Schedule(std::max(base, monotonic_now), this);
event_.set_event_time(base_);
simulated_event_loop_->AddEvent(&event_);
}
-void SimulatedTimerHandler::HandleEvent() {
+void SimulatedTimerHandler::Handle() noexcept {
+ DCHECK(token_ != scheduler_->InvalidToken());
+ token_ = scheduler_->InvalidToken();
+ simulated_event_loop_->HandleEvent();
+}
+
+void SimulatedTimerHandler::HandleEvent() noexcept {
const monotonic_clock::time_point monotonic_now =
simulated_event_loop_->monotonic_now();
VLOG(1) << simulated_event_loop_->distributed_now() << " "
@@ -1083,11 +1123,7 @@
if (repeat_offset_ != monotonic_clock::zero()) {
// Reschedule.
while (base_ <= monotonic_now) base_ += repeat_offset_;
- token_ = scheduler_->Schedule(base_, [this]() {
- DCHECK(token_ != scheduler_->InvalidToken());
- token_ = scheduler_->InvalidToken();
- simulated_event_loop_->HandleEvent();
- });
+ token_ = scheduler_->Schedule(base_, this);
event_.set_event_time(base_);
simulated_event_loop_->AddEvent(&event_);
}
@@ -1124,7 +1160,7 @@
simulated_event_loop_->RemoveEvent(&event_);
}
-void SimulatedPhasedLoopHandler::HandleEvent() {
+void SimulatedPhasedLoopHandler::HandleEvent() noexcept {
monotonic_clock::time_point monotonic_now =
simulated_event_loop_->monotonic_now();
VLOG(1) << monotonic_now << " Phased loop " << simulated_event_loop_->name()
@@ -1143,6 +1179,12 @@
}
}
+void SimulatedPhasedLoopHandler::Handle() noexcept {
+ DCHECK(token_ != scheduler_->InvalidToken());
+ token_ = scheduler_->InvalidToken();
+ simulated_event_loop_->HandleEvent();
+}
+
void SimulatedPhasedLoopHandler::Schedule(
monotonic_clock::time_point sleep_time) {
// The allocations in here are due to infrastructure and don't count in the no
@@ -1152,11 +1194,7 @@
scheduler_->Deschedule(token_);
token_ = scheduler_->InvalidToken();
}
- token_ = scheduler_->Schedule(sleep_time, [this]() {
- DCHECK(token_ != scheduler_->InvalidToken());
- token_ = scheduler_->InvalidToken();
- simulated_event_loop_->HandleEvent();
- });
+ token_ = scheduler_->Schedule(sleep_time, this);
event_.set_event_time(sleep_time);
simulated_event_loop_->AddEvent(&event_);
}
diff --git a/aos/events/simulated_event_loop_test.cc b/aos/events/simulated_event_loop_test.cc
index 75e3f85..277e783 100644
--- a/aos/events/simulated_event_loop_test.cc
+++ b/aos/events/simulated_event_loop_test.cc
@@ -1,5 +1,6 @@
#include "aos/events/simulated_event_loop.h"
+#include <chrono>
#include <string_view>
#include "aos/events/event_loop_param_test.h"
@@ -137,6 +138,16 @@
aos::FlatbufferDetachedBuffer<aos::Configuration> config;
};
+class FunctionEvent : public EventScheduler::Event {
+ public:
+ FunctionEvent(std::function<void()> fn) : fn_(fn) {}
+
+ void Handle() noexcept override { fn_(); }
+
+ private:
+ std::function<void()> fn_;
+};
+
// Test that creating an event and running the scheduler runs the event.
TEST(EventSchedulerTest, ScheduleEvent) {
int counter = 0;
@@ -144,12 +155,12 @@
EventScheduler scheduler(0);
scheduler_scheduler.AddEventScheduler(&scheduler);
- scheduler.Schedule(monotonic_clock::epoch() + chrono::seconds(1),
- [&counter]() { counter += 1; });
+ FunctionEvent e([&counter]() { counter += 1; });
+ scheduler.Schedule(monotonic_clock::epoch() + chrono::seconds(1), &e);
scheduler_scheduler.Run();
EXPECT_EQ(counter, 1);
- auto token = scheduler.Schedule(monotonic_clock::epoch() + chrono::seconds(2),
- [&counter]() { counter += 1; });
+ auto token =
+ scheduler.Schedule(monotonic_clock::epoch() + chrono::seconds(2), &e);
scheduler.Deschedule(token);
scheduler_scheduler.Run();
EXPECT_EQ(counter, 1);
@@ -162,8 +173,9 @@
EventScheduler scheduler(0);
scheduler_scheduler.AddEventScheduler(&scheduler);
- auto token = scheduler.Schedule(monotonic_clock::epoch() + chrono::seconds(1),
- [&counter]() { counter += 1; });
+ FunctionEvent e([&counter]() { counter += 1; });
+ auto token =
+ scheduler.Schedule(monotonic_clock::epoch() + chrono::seconds(1), &e);
scheduler.Deschedule(token);
scheduler_scheduler.Run();
EXPECT_EQ(counter, 0);
@@ -174,7 +186,7 @@
TestMessage::Builder test_message_builder =
builder.MakeBuilder<TestMessage>();
test_message_builder.add_value(value);
- builder.Send(test_message_builder.Finish());
+ ASSERT_EQ(builder.Send(test_message_builder.Finish()), RawSender::Error::kOk);
}
// Test that sending a message after running gets properly notified.
@@ -337,7 +349,7 @@
aos::Sender<TestMessage>::Builder msg = sender.MakeBuilder();
TestMessage::Builder builder = msg.MakeBuilder<TestMessage>();
builder.add_value(200 + i);
- ASSERT_TRUE(msg.Send(builder.Finish()));
+ msg.CheckOk(msg.Send(builder.Finish()));
}
});
@@ -506,6 +518,8 @@
for (const message_bridge::ServerConnection *connection :
*stats.connections()) {
EXPECT_EQ(connection->state(), message_bridge::State::CONNECTED);
+ EXPECT_EQ(connection->connection_count(), 1u);
+ EXPECT_EQ(connection->connected_since_time(), 0);
EXPECT_TRUE(connection->has_boot_uuid());
if (connection->node()->name()->string_view() == "pi2") {
EXPECT_GT(connection->sent_packets(), 50);
@@ -535,6 +549,8 @@
EXPECT_GT(connection->sent_packets(), 50);
EXPECT_TRUE(connection->has_monotonic_offset());
EXPECT_EQ(connection->monotonic_offset(), 0);
+ EXPECT_EQ(connection->connection_count(), 1u);
+ EXPECT_EQ(connection->connected_since_time(), 0);
++pi2_server_statistics_count;
});
@@ -552,6 +568,8 @@
EXPECT_GE(connection->sent_packets(), 5);
EXPECT_TRUE(connection->has_monotonic_offset());
EXPECT_EQ(connection->monotonic_offset(), 0);
+ EXPECT_EQ(connection->connection_count(), 1u);
+ EXPECT_EQ(connection->connected_since_time(), 0);
++pi3_server_statistics_count;
});
@@ -576,6 +594,8 @@
EXPECT_EQ(connection->partial_deliveries(), 0);
EXPECT_TRUE(connection->has_monotonic_offset());
EXPECT_EQ(connection->monotonic_offset(), 150000);
+ EXPECT_EQ(connection->connection_count(), 1u);
+ EXPECT_EQ(connection->connected_since_time(), 0);
}
++pi1_client_statistics_count;
});
@@ -594,6 +614,8 @@
EXPECT_EQ(connection->partial_deliveries(), 0);
EXPECT_TRUE(connection->has_monotonic_offset());
EXPECT_EQ(connection->monotonic_offset(), 150000);
+ EXPECT_EQ(connection->connection_count(), 1u);
+ EXPECT_EQ(connection->connected_since_time(), 0);
++pi2_client_statistics_count;
});
@@ -611,6 +633,8 @@
EXPECT_EQ(connection->partial_deliveries(), 0);
EXPECT_TRUE(connection->has_monotonic_offset());
EXPECT_EQ(connection->monotonic_offset(), 150000);
+ EXPECT_EQ(connection->connection_count(), 1u);
+ EXPECT_EQ(connection->connected_since_time(), 0);
++pi3_client_statistics_count;
});
@@ -1010,6 +1034,9 @@
if (connection->state() != message_bridge::State::CONNECTED) {
return false;
}
+ EXPECT_TRUE(connection->has_boot_uuid());
+ EXPECT_TRUE(connection->has_connected_since_time());
+ EXPECT_TRUE(connection->has_connection_count());
}
return true;
}
@@ -1022,15 +1049,42 @@
if (connection->state() == message_bridge::State::CONNECTED) {
return false;
}
+ EXPECT_FALSE(connection->has_boot_uuid());
+ EXPECT_FALSE(connection->has_connected_since_time());
} else {
if (connection->state() != message_bridge::State::CONNECTED) {
return false;
}
+ EXPECT_TRUE(connection->has_boot_uuid());
+ EXPECT_TRUE(connection->has_connected_since_time());
+ EXPECT_TRUE(connection->has_connection_count());
}
}
return true;
}
+int ConnectedCount(const message_bridge::ClientStatistics *client_statistics,
+ std::string_view target) {
+ for (const message_bridge::ClientConnection *connection :
+ *client_statistics->connections()) {
+ if (connection->node()->name()->string_view() == target) {
+ return connection->connection_count();
+ }
+ }
+ return 0;
+}
+
+int ConnectedCount(const message_bridge::ServerStatistics *server_statistics,
+ std::string_view target) {
+ for (const message_bridge::ServerConnection *connection :
+ *server_statistics->connections()) {
+ if (connection->node()->name()->string_view() == target) {
+ return connection->connection_count();
+ }
+ }
+ return 0;
+}
+
// Test that disconnecting nodes actually disconnects them.
TEST_P(RemoteMessageSimulatedEventLoopTest, MultinodeDisconnect) {
SimulatedEventLoopFactory simulated_event_loop_factory(&config.message());
@@ -1235,6 +1289,33 @@
simulated_event_loop_factory.RunFor(chrono::seconds(2));
+ EXPECT_TRUE(pi1_server_statistics_fetcher.Fetch());
+ EXPECT_TRUE(pi1_client_statistics_fetcher.Fetch());
+ EXPECT_TRUE(pi2_server_statistics_fetcher.Fetch());
+ EXPECT_TRUE(pi2_client_statistics_fetcher.Fetch());
+ EXPECT_TRUE(pi3_server_statistics_fetcher.Fetch());
+ EXPECT_TRUE(pi3_client_statistics_fetcher.Fetch());
+
+ EXPECT_EQ(ConnectedCount(pi1_server_statistics_fetcher.get(), "pi3"), 2u)
+ << " : " << aos::FlatbufferToJson(pi1_server_statistics_fetcher.get());
+ EXPECT_EQ(ConnectedCount(pi1_server_statistics_fetcher.get(), "pi2"), 1u)
+ << " : " << aos::FlatbufferToJson(pi1_server_statistics_fetcher.get());
+ EXPECT_EQ(ConnectedCount(pi1_client_statistics_fetcher.get(), "pi3"), 1u)
+ << " : " << aos::FlatbufferToJson(pi1_client_statistics_fetcher.get());
+ EXPECT_EQ(ConnectedCount(pi1_client_statistics_fetcher.get(), "pi2"), 1u)
+ << " : " << aos::FlatbufferToJson(pi1_client_statistics_fetcher.get());
+
+ EXPECT_EQ(ConnectedCount(pi2_server_statistics_fetcher.get(), "pi1"), 1u)
+ << " : " << aos::FlatbufferToJson(pi2_server_statistics_fetcher.get());
+ EXPECT_EQ(ConnectedCount(pi2_client_statistics_fetcher.get(), "pi1"), 1u)
+ << " : " << aos::FlatbufferToJson(pi2_client_statistics_fetcher.get());
+
+ EXPECT_EQ(ConnectedCount(pi3_server_statistics_fetcher.get(), "pi1"), 1u)
+ << " : " << aos::FlatbufferToJson(pi3_server_statistics_fetcher.get());
+ EXPECT_EQ(ConnectedCount(pi3_client_statistics_fetcher.get(), "pi1"), 2u)
+ << " : " << aos::FlatbufferToJson(pi3_client_statistics_fetcher.get());
+
+
EXPECT_EQ(pi1_pong_counter.count(), 601u);
EXPECT_EQ(pi2_pong_counter.count(), 601u);
@@ -1258,22 +1339,16 @@
EXPECT_EQ(CountAll(remote_timestamps_pi2_on_pi1), 661);
EXPECT_EQ(CountAll(remote_timestamps_pi1_on_pi2), 661);
- EXPECT_TRUE(pi1_server_statistics_fetcher.Fetch());
EXPECT_TRUE(AllConnected(pi1_server_statistics_fetcher.get()))
<< " : " << aos::FlatbufferToJson(pi1_server_statistics_fetcher.get());
- EXPECT_TRUE(pi1_client_statistics_fetcher.Fetch());
EXPECT_TRUE(AllConnected(pi1_client_statistics_fetcher.get()))
<< " : " << aos::FlatbufferToJson(pi1_client_statistics_fetcher.get());
- EXPECT_TRUE(pi2_server_statistics_fetcher.Fetch());
EXPECT_TRUE(AllConnected(pi2_server_statistics_fetcher.get()))
<< " : " << aos::FlatbufferToJson(pi2_server_statistics_fetcher.get());
- EXPECT_TRUE(pi2_client_statistics_fetcher.Fetch());
EXPECT_TRUE(AllConnected(pi2_client_statistics_fetcher.get()))
<< " : " << aos::FlatbufferToJson(pi2_client_statistics_fetcher.get());
- EXPECT_TRUE(pi3_server_statistics_fetcher.Fetch());
EXPECT_TRUE(AllConnected(pi3_server_statistics_fetcher.get()))
<< " : " << aos::FlatbufferToJson(pi3_server_statistics_fetcher.get());
- EXPECT_TRUE(pi3_client_statistics_fetcher.Fetch());
EXPECT_TRUE(AllConnected(pi3_client_statistics_fetcher.get()))
<< " : " << aos::FlatbufferToJson(pi3_client_statistics_fetcher.get());
}
@@ -1394,7 +1469,7 @@
aos::Sender<examples::Ping>::Builder builder = sender->MakeBuilder();
examples::Ping::Builder ping_builder = builder.MakeBuilder<examples::Ping>();
ping_builder.add_value(value);
- builder.Send(ping_builder.Finish());
+ builder.CheckOk(builder.Send(ping_builder.Finish()));
}
// Tests that reliable (and unreliable) ping messages get forwarded as expected.
@@ -1551,10 +1626,13 @@
int pi1_server_statistics_count = 0;
bool first_pi1_server_statistics = true;
+ int boot_number = 0;
+ monotonic_clock::time_point expected_connection_time = pi1->monotonic_now();
pi1_remote_timestamp->MakeWatcher(
- "/pi1/aos", [&pi1_server_statistics_count, &expected_boot_uuid,
- &first_pi1_server_statistics](
- const message_bridge::ServerStatistics &stats) {
+ "/pi1/aos",
+ [&pi1_server_statistics_count, &expected_boot_uuid,
+ &expected_connection_time, &first_pi1_server_statistics,
+ &boot_number](const message_bridge::ServerStatistics &stats) {
VLOG(1) << "pi1 ServerStatistics " << FlatbufferToJson(&stats);
for (const message_bridge::ServerConnection *connection :
*stats.connections()) {
@@ -1570,6 +1648,10 @@
EXPECT_EQ(expected_boot_uuid,
UUID::FromString(connection->boot_uuid()))
<< " : Got " << aos::FlatbufferToJson(&stats);
+ EXPECT_EQ(monotonic_clock::time_point(chrono::nanoseconds(
+ connection->connected_since_time())),
+ expected_connection_time);
+ EXPECT_EQ(boot_number + 1, connection->connection_count());
++pi1_server_statistics_count;
}
}
@@ -1578,7 +1660,8 @@
int pi1_client_statistics_count = 0;
pi1_remote_timestamp->MakeWatcher(
- "/pi1/aos", [&pi1_client_statistics_count](
+ "/pi1/aos", [&pi1_client_statistics_count, &expected_boot_uuid,
+ &expected_connection_time, &boot_number](
const message_bridge::ClientStatistics &stats) {
VLOG(1) << "pi1 ClientStatistics " << FlatbufferToJson(&stats);
for (const message_bridge::ClientConnection *connection :
@@ -1586,18 +1669,33 @@
EXPECT_EQ(connection->state(), message_bridge::State::CONNECTED);
if (connection->node()->name()->string_view() == "pi2") {
++pi1_client_statistics_count;
+ EXPECT_EQ(expected_boot_uuid,
+ UUID::FromString(connection->boot_uuid()))
+ << " : Got " << aos::FlatbufferToJson(&stats);
+ EXPECT_EQ(monotonic_clock::time_point(chrono::nanoseconds(
+ connection->connected_since_time())),
+ expected_connection_time);
+ EXPECT_EQ(boot_number + 1, connection->connection_count());
+ } else {
+ EXPECT_EQ(connection->connected_since_time(), 0);
+ EXPECT_EQ(1, connection->connection_count());
}
}
});
// Confirm that reboot changes the UUID.
- pi2->OnShutdown([&expected_boot_uuid, pi2, pi2_boot1]() {
- expected_boot_uuid = pi2_boot1;
- LOG(INFO) << "OnShutdown triggered for pi2";
- pi2->OnStartup([&expected_boot_uuid, pi2]() {
- EXPECT_EQ(expected_boot_uuid, pi2->boot_uuid());
- });
- });
+ pi2->OnShutdown(
+ [&expected_boot_uuid, &boot_number, &expected_connection_time, pi1, pi2,
+ pi2_boot1]() {
+ expected_boot_uuid = pi2_boot1;
+ ++boot_number;
+ LOG(INFO) << "OnShutdown triggered for pi2";
+ pi2->OnStartup(
+ [&expected_boot_uuid, &expected_connection_time, pi1, pi2]() {
+ EXPECT_EQ(expected_boot_uuid, pi2->boot_uuid());
+ expected_connection_time = pi1->monotonic_now();
+ });
+ });
// Let a couple of ServerStatistics messages show up before rebooting.
factory.RunFor(chrono::milliseconds(2002));
diff --git a/aos/events/simulated_network_bridge.cc b/aos/events/simulated_network_bridge.cc
index b87182a..4c9208e 100644
--- a/aos/events/simulated_network_bridge.cc
+++ b/aos/events/simulated_network_bridge.cc
@@ -61,10 +61,10 @@
timestamp_timer_ =
fetch_event_loop_->AddTimer([this]() { SendTimestamp(); });
if (send_event_loop_) {
- std::string timer_name = absl::StrCat(
- send_event_loop_->node()->name()->string_view(), " ",
- fetcher_->channel()->name()->string_view(), " ",
- fetcher_->channel()->type()->string_view());
+ std::string timer_name =
+ absl::StrCat(send_event_loop_->node()->name()->string_view(), " ",
+ fetcher_->channel()->name()->string_view(), " ",
+ fetcher_->channel()->type()->string_view());
if (timer_) {
timer_->set_name(timer_name);
}
@@ -250,16 +250,16 @@
return;
}
// Fill out the send times.
- sender_->Send(fetcher_->context().data, fetcher_->context().size,
- fetcher_->context().monotonic_event_time,
- fetcher_->context().realtime_event_time,
- fetcher_->context().queue_index,
- fetcher_->context().source_boot_uuid);
+ sender_->CheckOk(sender_->Send(
+ fetcher_->context().data, fetcher_->context().size,
+ fetcher_->context().monotonic_event_time,
+ fetcher_->context().realtime_event_time,
+ fetcher_->context().queue_index, fetcher_->context().source_boot_uuid));
// And simulate message_bridge's offset recovery.
- client_status_->SampleFilter(client_index_,
- fetcher_->context().monotonic_event_time,
- sender_->monotonic_sent_time());
+ client_status_->SampleFilter(
+ client_index_, fetcher_->context().monotonic_event_time,
+ sender_->monotonic_sent_time(), fetcher_->context().source_boot_uuid);
client_connection_->mutate_received_packets(
client_connection_->received_packets() + 1);
@@ -338,8 +338,8 @@
while (remote_timestamps_.front().monotonic_timestamp_time ==
scheduled_time_) {
if (server_connection_->state() == State::CONNECTED) {
- timestamp_logger_->Send(
- std::move(remote_timestamps_.front().remote_message));
+ timestamp_logger_->CheckOk(timestamp_logger_->Send(
+ std::move(remote_timestamps_.front().remote_message)));
}
remote_timestamps_.pop_front();
if (remote_timestamps_.empty()) {
@@ -631,9 +631,16 @@
for (ServerConnection *connection : server_status->server_connection()) {
if (connection) {
if (boot_uuids_[node_index] != UUID::Zero()) {
- connection->mutate_state(server_state_[node_index]);
+ switch (server_state_[node_index]) {
+ case message_bridge::State::DISCONNECTED:
+ server_status->Disconnect(node_index);
+ break;
+ case message_bridge::State::CONNECTED:
+ server_status->Connect(node_index, event_loop->monotonic_now());
+ break;
+ }
} else {
- connection->mutate_state(message_bridge::State::DISCONNECTED);
+ server_status->Disconnect(node_index);
}
}
++node_index;
@@ -666,9 +673,18 @@
const size_t client_node_index = configuration::GetNodeIndex(
node_factory_->configuration(), client_node);
if (boot_uuids_[client_node_index] != UUID::Zero()) {
- client_connection->mutate_state(client_state_[client_node_index]);
+ if (client_connection->state() != client_state_[client_node_index]) {
+ switch (client_state_[client_node_index]) {
+ case message_bridge::State::DISCONNECTED:
+ client_status->Disconnect(i);
+ break;
+ case message_bridge::State::CONNECTED:
+ client_status->Connect(i);
+ break;
+ }
+ }
} else {
- client_connection->mutate_state(message_bridge::State::DISCONNECTED);
+ client_status->Disconnect(i);
}
}
diff --git a/aos/events/simulated_network_bridge.h b/aos/events/simulated_network_bridge.h
index 231bba1..3a7a4e8 100644
--- a/aos/events/simulated_network_bridge.h
+++ b/aos/events/simulated_network_bridge.h
@@ -86,7 +86,6 @@
SetEventLoop(node_factory_->MakeEventLoop("message_bridge"));
}
- void ClearEventLoop() { SetEventLoop(nullptr); }
void SetEventLoop(std::unique_ptr<aos::EventLoop> loop);
void SetSendData(std::function<void(const Context &)> fn) {
@@ -109,19 +108,38 @@
ServerConnection *connection =
server_status->FindServerConnection(node);
if (connection) {
- connection->mutate_state(server_state_[node_index]);
- server_status->ResetFilter(node_index);
- server_status->SetBootUUID(node_index, boot_uuid);
+ if (boot_uuid == UUID::Zero()) {
+ server_status->Disconnect(node_index);
+ server_status->ResetFilter(node_index);
+ } else {
+ switch (server_state_[node_index]) {
+ case message_bridge::State::DISCONNECTED:
+ server_status->Disconnect(node_index);
+ break;
+ case message_bridge::State::CONNECTED:
+ server_status->Connect(node_index, event_loop->monotonic_now());
+ break;
+ }
+ server_status->ResetFilter(node_index);
+ server_status->SetBootUUID(node_index, boot_uuid);
+ }
}
}
if (client_status) {
const int client_index =
client_status->FindClientIndex(node->name()->string_view());
- ClientConnection *client_connection =
- client_status->GetClientConnection(client_index);
- if (client_connection) {
- client_status->SampleReset(client_index);
- client_connection->mutate_state(client_state_[node_index]);
+ client_status->SampleReset(client_index);
+ if (boot_uuid == UUID::Zero()) {
+ client_status->Disconnect(client_index);
+ } else {
+ switch (client_state_[node_index]) {
+ case message_bridge::State::CONNECTED:
+ client_status->Connect(client_index);
+ break;
+ case message_bridge::State::DISCONNECTED:
+ client_status->Disconnect(client_index);
+ break;
+ }
}
}
}
@@ -135,7 +153,17 @@
server_status->FindServerConnection(destination);
if (connection == nullptr) return;
- connection->mutate_state(state);
+ if (state == connection->state()) {
+ return;
+ }
+ switch (state) {
+ case message_bridge::State::DISCONNECTED:
+ server_status->Disconnect(node_index);
+ break;
+ case message_bridge::State::CONNECTED:
+ server_status->Connect(node_index, event_loop->monotonic_now());
+ break;
+ }
}
}
@@ -144,12 +172,23 @@
configuration::GetNodeIndex(node_factory_->configuration(), source);
client_state_[node_index] = state;
if (client_status) {
+ const int client_index =
+ client_status->FindClientIndex(source->name()->string_view());
ClientConnection *connection =
client_status->GetClientConnection(source);
- if (connection == nullptr) return;
-
- connection->mutate_state(state);
+ // TODO(austin): Are there cases where we want to dedup 2 CONNECTED
+ // calls?
+ if (connection->state() != state) {
+ switch (state) {
+ case message_bridge::State::CONNECTED:
+ client_status->Connect(client_index);
+ break;
+ case message_bridge::State::DISCONNECTED:
+ client_status->Disconnect(client_index);
+ break;
+ }
+ }
}
}
diff --git a/aos/flatbuffers.h b/aos/flatbuffers.h
index 68a8ad5..cdf5339 100644
--- a/aos/flatbuffers.h
+++ b/aos/flatbuffers.h
@@ -7,6 +7,7 @@
#include "absl/types/span.h"
#include "aos/containers/resizeable_buffer.h"
#include "aos/macros.h"
+#include "aos/util/file.h"
#include "flatbuffers/flatbuffers.h" // IWYU pragma: export
#include "glog/logging.h"
@@ -501,6 +502,31 @@
span.size());
}
+// MMap a flatbuffer on disk.
+template <typename T>
+class FlatbufferMMap : public NonSizePrefixedFlatbuffer<T> {
+ public:
+ // Builds a Flatbuffer by mmaping the data from a flatbuffer saved on disk.
+ FlatbufferMMap(const std::string &flatbuffer_path,
+ util::FileOptions options = util::FileOptions::kReadable) {
+ span_ = util::MMapFile(flatbuffer_path, options);
+ }
+
+ // Copies the reference to the mapped memory.
+ FlatbufferMMap(const FlatbufferMMap &) = default;
+ FlatbufferMMap &operator=(const FlatbufferMMap<T> &other) = default;
+
+ // Moves the reference to the mapped memory from one pointer to another.
+ FlatbufferMMap(FlatbufferMMap &&) = default;
+ FlatbufferMMap &operator=(FlatbufferMMap<T> &&other) = default;
+
+ absl::Span<uint8_t> span() override { return *span_; }
+ absl::Span<const uint8_t> span() const override { return *span_; }
+
+ private:
+ std::shared_ptr<absl::Span<uint8_t>> span_;
+};
+
} // namespace aos
#endif // AOS_FLATBUFFERS_H_
diff --git a/aos/flatbuffers_test.cc b/aos/flatbuffers_test.cc
index e3030f1..ae8d6e6 100644
--- a/aos/flatbuffers_test.cc
+++ b/aos/flatbuffers_test.cc
@@ -1,9 +1,10 @@
#include "aos/flatbuffers.h"
-#include "gtest/gtest.h"
-
+#include "absl/strings/str_cat.h"
#include "aos/json_to_flatbuffer.h"
#include "aos/json_to_flatbuffer_generated.h"
+#include "aos/testing/tmpdir.h"
+#include "gtest/gtest.h"
namespace aos {
namespace testing {
@@ -21,5 +22,59 @@
EXPECT_FALSE(empty.Verify());
}
+// Tests the ability to map a flatbuffer on disk to memory
+TEST(FlatbufferMMapTest, Verify) {
+ FlatbufferDetachedBuffer<Configuration> fb =
+ JsonToFlatbuffer<Configuration>("{\"foo_int\": 3}");
+
+ const std::string fb_path = absl::StrCat(TestTmpDir(), "/fb.bfbs");
+ WriteFlatbufferToFile(fb_path, fb);
+
+ FlatbufferMMap<Configuration> fb_mmap(fb_path);
+ EXPECT_TRUE(fb.Verify());
+ EXPECT_TRUE(fb_mmap.Verify());
+ ASSERT_EQ(fb_mmap.message().foo_int(), 3);
+
+ // Verify that copying works
+ {
+ FlatbufferMMap<Configuration> fb_mmap2(fb_path);
+ fb_mmap2 = fb_mmap;
+ EXPECT_TRUE(fb_mmap.Verify());
+ EXPECT_TRUE(fb_mmap2.Verify());
+ ASSERT_EQ(fb_mmap2.message().foo_int(), 3);
+ ASSERT_EQ(fb_mmap.message().foo_int(), 3);
+ }
+ EXPECT_TRUE(fb_mmap.Verify());
+ ASSERT_EQ(fb_mmap.message().foo_int(), 3);
+
+ // Verify that moving works
+ {
+ FlatbufferMMap<Configuration> fb_mmap3(fb_path);
+ fb_mmap3 = std::move(fb_mmap);
+ EXPECT_TRUE(fb_mmap3.Verify());
+ ASSERT_EQ(fb_mmap3.message().foo_int(), 3);
+ }
+}
+
+// Tests the ability to modify a flatbuffer mmaped from on disk in memory
+TEST(FlatbufferMMapTest, Writeable) {
+ FlatbufferDetachedBuffer<Configuration> fb =
+ JsonToFlatbuffer<Configuration>("{\"foo_int\": 3}");
+
+ const std::string fb_path = absl::StrCat(TestTmpDir(), "/fb.bfbs");
+ WriteFlatbufferToFile(fb_path, fb);
+
+ {
+ FlatbufferMMap<Configuration> fb_mmap(fb_path,
+ util::FileOptions::kWriteable);
+ fb_mmap.mutable_message()->mutate_foo_int(5);
+ }
+
+ {
+ FlatbufferMMap<Configuration> fb_mmap(fb_path);
+ EXPECT_EQ(fb_mmap.message().foo_int(), 5);
+ }
+}
+
} // namespace testing
} // namespace aos
diff --git a/aos/ipc_lib/BUILD b/aos/ipc_lib/BUILD
index c24fcee..c124fe0 100644
--- a/aos/ipc_lib/BUILD
+++ b/aos/ipc_lib/BUILD
@@ -12,6 +12,7 @@
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
+ ":shm_observers",
"//aos:macros",
"//aos:thread_local",
"//aos/util:compiler_memory_barrier",
@@ -146,6 +147,7 @@
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
+ ":shm_observers",
"@com_github_google_glog//:glog",
],
)
@@ -225,6 +227,7 @@
":event",
":lockless_queue",
":queue_racer",
+ ":shm_observers",
":signalfd",
"//aos/events:epoll",
"//aos/libc:aos_strsignal",
@@ -359,3 +362,13 @@
"//aos/time",
],
)
+
+cc_library(
+ name = "shm_observers",
+ srcs = [
+ "shm_observers.cc",
+ ],
+ hdrs = [
+ "shm_observers.h",
+ ],
+)
diff --git a/aos/ipc_lib/aos_sync.cc b/aos/ipc_lib/aos_sync.cc
index 39ea4c6..861a6fe 100644
--- a/aos/ipc_lib/aos_sync.cc
+++ b/aos/ipc_lib/aos_sync.cc
@@ -20,6 +20,8 @@
#include <cstdint>
#include <cstring>
+#include "aos/ipc_lib/shm_observers.h"
+
#ifdef AOS_SANITIZER_thread
#include <sanitizer/tsan_interface_atomic.h>
#endif
@@ -33,7 +35,7 @@
#include "aos/util/compiler_memory_barrier.h"
#include "glog/logging.h"
-using ::aos::linux_code::ipc_lib::FutexAccessorObserver;
+using ::aos::linux_code::ipc_lib::RunShmObservers;
// This code was originally based on
// <https://www.akkadia.org/drepper/futex.pdf>, but is has since evolved a lot.
@@ -115,17 +117,24 @@
// result or a negated errno value. -1..-4095 mean errors and not successful
// results, which is guaranteed by the kernel.
//
-// They each have optimized versions for ARM EABI (the syscall interface is
-// different for non-EABI ARM, so that is the right thing to test for) that
-// don't go through syscall(2) or errno.
-// These use register variables to get the values in the right registers to
-// actually make the syscall.
+// They each have optimized versions for some architectures which don't go
+// through syscall(2) or errno. These use register variables to get the values
+// in the right registers to actually make the syscall.
-// The actual macro that we key off of to use the inline versions or not.
+// The actual macros that we key off of to use the inline versions or not.
#if defined(__ARM_EABI__)
+// The syscall interface is different for non-EABI ARM, so we test specifically
+// for EABI.
#define ARM_EABI_INLINE_SYSCALL 1
+#define AARCH64_INLINE_SYSCALL 0
+#elif defined(__aarch64__)
+// Linux only has one supported syscall ABI on aarch64, which is the one we
+// support.
+#define ARM_EABI_INLINE_SYSCALL 0
+#define AARCH64_INLINE_SYSCALL 1
#else
#define ARM_EABI_INLINE_SYSCALL 0
+#define AARCH64_INLINE_SYSCALL 0
#endif
// Used for FUTEX_WAIT, FUTEX_LOCK_PI, and FUTEX_TRYLOCK_PI.
@@ -144,6 +153,19 @@
"r"(timeout_reg), "r"(syscall_number)
: "memory");
return result;
+#elif AARCH64_INLINE_SYSCALL
+ register aos_futex *addr1_reg __asm__("x0") = addr1;
+ register int op_reg __asm__("x1") = op;
+ register int val1_reg __asm__("x2") = val1;
+ register const struct timespec *timeout_reg __asm__("x3") = timeout;
+ register int syscall_number __asm__("x8") = SYS_futex;
+ register int result __asm__("x0");
+ __asm__ volatile("svc #0"
+ : "=r"(result)
+ : "r"(addr1_reg), "r"(op_reg), "r"(val1_reg),
+ "r"(timeout_reg), "r"(syscall_number)
+ : "memory");
+ return result;
#else
const int r = syscall(SYS_futex, addr1, op, val1, timeout);
if (r == -1) return -errno;
@@ -164,6 +186,18 @@
"r"(syscall_number)
: "memory");
return result;
+#elif AARCH64_INLINE_SYSCALL
+ register aos_futex *addr1_reg __asm__("x0") = addr1;
+ register int op_reg __asm__("x1") = FUTEX_WAKE;
+ register int val1_reg __asm__("x2") = val1;
+ register int syscall_number __asm__("x8") = SYS_futex;
+ register int result __asm__("x0");
+ __asm__ volatile("svc #0"
+ : "=r"(result)
+ : "r"(addr1_reg), "r"(op_reg), "r"(val1_reg),
+ "r"(syscall_number)
+ : "memory");
+ return result;
#else
const int r = syscall(SYS_futex, addr1, FUTEX_WAKE, val1);
if (r == -1) return -errno;
@@ -190,6 +224,22 @@
"r"(syscall_number)
: "memory");
return result;
+#elif AARCH64_INLINE_SYSCALL
+ register aos_futex *addr1_reg __asm__("x0") = addr1;
+ register int op_reg __asm__("x1") = FUTEX_CMP_REQUEUE_PI;
+ register int num_wake_reg __asm__("x2") = num_wake;
+ register int num_requeue_reg __asm__("x3") = num_requeue;
+ register aos_futex *m_reg __asm__("x4") = m;
+ register uint32_t val_reg __asm__("x5") = val;
+ register int syscall_number __asm__("x8") = SYS_futex;
+ register int result __asm__("x0");
+ __asm__ volatile("svc #0"
+ : "=r"(result)
+ : "r"(addr1_reg), "r"(op_reg), "r"(num_wake_reg),
+ "r"(num_requeue_reg), "r"(m_reg), "r"(val_reg),
+ "r"(syscall_number)
+ : "memory");
+ return result;
#else
const int r = syscall(SYS_futex, addr1, FUTEX_CMP_REQUEUE_PI, num_wake,
num_requeue, m, val);
@@ -215,6 +265,20 @@
"r"(timeout_reg), "r"(m_reg), "r"(syscall_number)
: "memory");
return result;
+#elif AARCH64_INLINE_SYSCALL
+ register aos_condition *addr1_reg __asm__("x0") = addr1;
+ register int op_reg __asm__("x1") = FUTEX_WAIT_REQUEUE_PI;
+ register uint32_t start_val_reg __asm__("x2") = start_val;
+ register const struct timespec *timeout_reg __asm__("x3") = timeout;
+ register aos_futex *m_reg __asm__("x4") = m;
+ register int syscall_number __asm__("x8") = SYS_futex;
+ register int result __asm__("x0");
+ __asm__ volatile("svc #0"
+ : "=r"(result)
+ : "r"(addr1_reg), "r"(op_reg), "r"(start_val_reg),
+ "r"(timeout_reg), "r"(m_reg), "r"(syscall_number)
+ : "memory");
+ return result;
#else
const int r =
syscall(SYS_futex, addr1, FUTEX_WAIT_REQUEUE_PI, start_val, timeout, m);
@@ -234,6 +298,16 @@
: "r"(addr1_reg), "r"(op_reg), "r"(syscall_number)
: "memory");
return result;
+#elif AARCH64_INLINE_SYSCALL
+ register aos_futex *addr1_reg __asm__("x0") = addr1;
+ register int op_reg __asm__("x1") = FUTEX_UNLOCK_PI;
+ register int syscall_number __asm__("x8") = SYS_futex;
+ register int result __asm__("x0");
+ __asm__ volatile("svc #0"
+ : "=r"(result)
+ : "r"(addr1_reg), "r"(op_reg), "r"(syscall_number)
+ : "memory");
+ return result;
#else
const int r = syscall(SYS_futex, addr1, FUTEX_UNLOCK_PI);
if (r == -1) return -errno;
@@ -608,34 +682,6 @@
my_robust_list::Init();
}
-FutexAccessorObserver before_observer = nullptr, after_observer = nullptr;
-
-// RAII class which runs before_observer during construction and after_observer
-// during destruction.
-class RunObservers {
- public:
- template <class T>
- RunObservers(T *address, bool write)
- : address_(static_cast<void *>(
- const_cast<typename ::std::remove_cv<T>::type *>(address))),
- write_(write) {
- if (__builtin_expect(before_observer != nullptr, false)) {
- before_observer(address_, write_);
- }
- }
- ~RunObservers() {
- if (__builtin_expect(after_observer != nullptr, false)) {
- after_observer(address_, write_);
- }
- }
-
- private:
- void *const address_;
- const bool write_;
-
- DISALLOW_COPY_AND_ASSIGN(RunObservers);
-};
-
// Finishes the locking of a mutex by potentially clearing FUTEX_OWNER_DIED in
// the futex and returning the correct value.
inline int mutex_finish_lock(aos_mutex *m) {
@@ -654,7 +700,7 @@
// own my_robust_list::Adder.
inline int mutex_do_get(aos_mutex *m, bool signals_fail,
const struct timespec *timeout, uint32_t tid) {
- RunObservers run_observers(m, true);
+ RunShmObservers run_observers(m, true);
if (kPrintOperations) {
printf("%" PRId32 ": %p do_get\n", tid, m);
}
@@ -722,7 +768,7 @@
// number_requeue is the number of waiters to requeue (probably INT_MAX or 0). 1
// will always be woken.
void condition_wake(aos_condition *c, aos_mutex *m, int number_requeue) {
- RunObservers run_observers(c, true);
+ RunShmObservers run_observers(c, true);
// Make it so that anybody just going to sleep won't.
// This is where we might accidentally wake more than just 1 waiter with 1
// signal():
@@ -766,7 +812,7 @@
int mutex_grab(aos_mutex *m) { return mutex_get(m, false, NULL); }
void mutex_unlock(aos_mutex *m) {
- RunObservers run_observers(m, true);
+ RunShmObservers run_observers(m, true);
const uint32_t tid = get_tid();
if (kPrintOperations) {
printf("%" PRId32 ": %p unlock\n", tid, m);
@@ -802,7 +848,7 @@
}
int mutex_trylock(aos_mutex *m) {
- RunObservers run_observers(m, true);
+ RunShmObservers run_observers(m, true);
const uint32_t tid = get_tid();
if (kPrintOperations) {
printf("%" PRId32 ": %p trylock\n", tid, m);
@@ -857,14 +903,14 @@
}
my_robust_list::Adder adder(m);
{
- RunObservers run_observers(m, true);
+ RunShmObservers run_observers(m, true);
CHECK(compare_and_swap(&m->futex, 0, tid));
}
adder.Add();
}
void death_notification_release(aos_mutex *m) {
- RunObservers run_observers(m, true);
+ RunShmObservers run_observers(m, true);
#ifndef NDEBUG
// Verify it's "locked", like it should be.
@@ -889,7 +935,7 @@
}
int condition_wait(aos_condition *c, aos_mutex *m, struct timespec *end_time) {
- RunObservers run_observers(c, false);
+ RunShmObservers run_observers(c, false);
const uint32_t tid = get_tid();
const uint32_t wait_start = __atomic_load_n(c, __ATOMIC_SEQ_CST);
@@ -969,7 +1015,7 @@
}
int futex_wait_timeout(aos_futex *m, const struct timespec *timeout) {
- RunObservers run_observers(m, false);
+ RunShmObservers run_observers(m, false);
const int ret = sys_futex_wait(FUTEX_WAIT, m, 0, timeout);
if (ret != 0) {
if (ret == -EINTR) {
@@ -988,7 +1034,7 @@
int futex_wait(aos_futex *m) { return futex_wait_timeout(m, NULL); }
int futex_set_value(aos_futex *m, uint32_t value) {
- RunObservers run_observers(m, false);
+ RunShmObservers run_observers(m, false);
ANNOTATE_HAPPENS_BEFORE(m);
__atomic_store_n(m, value, __ATOMIC_SEQ_CST);
const int r = sys_futex_wake(m, INT_MAX - 4096);
@@ -1012,15 +1058,6 @@
namespace linux_code {
namespace ipc_lib {
-// Sets functions to run befor eand after all futex operations.
-// This is important when doing robustness testing because the memory has to be
-// made writable for the whole futex operation, otherwise it never succeeds.
-void SetFutexAccessorObservers(FutexAccessorObserver before,
- FutexAccessorObserver after) {
- before_observer = before;
- after_observer = after;
-}
-
// Sets an extra offset between mutexes and the value we use for them in the
// robust list (only the forward pointers). This is used to work around a kernel
// bug by keeping a second set of mutexes which is always writable so the kernel
diff --git a/aos/ipc_lib/aos_sync.h b/aos/ipc_lib/aos_sync.h
index a61fcc1..c5fede1 100644
--- a/aos/ipc_lib/aos_sync.h
+++ b/aos/ipc_lib/aos_sync.h
@@ -182,12 +182,6 @@
namespace linux_code {
namespace ipc_lib {
-typedef void (*FutexAccessorObserver)(void *address, bool write);
-
-// Set functions which get called before and after all futex operations.
-void SetFutexAccessorObservers(FutexAccessorObserver before,
- FutexAccessorObserver after);
-
// Set the offset to use for putting addresses into the robust list.
// This is necessary to work around a kernel bug where it hangs when trying to
// deal with a futex on the robust list when its memory has been changed to
diff --git a/aos/ipc_lib/index.h b/aos/ipc_lib/index.h
index a47121e..c6a485f 100644
--- a/aos/ipc_lib/index.h
+++ b/aos/ipc_lib/index.h
@@ -2,9 +2,11 @@
#define AOS_IPC_LIB_INDEX_H_
#include <sys/types.h>
+
#include <atomic>
#include <string>
+#include "aos/ipc_lib/shm_observers.h"
#include "glog/logging.h"
namespace aos {
@@ -155,6 +157,7 @@
// Swaps expected for index atomically. Returns true on success, false
// otherwise.
inline bool CompareAndExchangeStrong(QueueIndex expected, QueueIndex index) {
+ linux_code::ipc_lib::RunShmObservers run_observers(&index_, true);
return index_.compare_exchange_strong(expected.index_, index.index_,
::std::memory_order_acq_rel);
}
@@ -242,6 +245,7 @@
// Swaps expected for index atomically. Returns true on success, false
// otherwise.
bool CompareAndExchangeStrong(Index expected, Index index) {
+ linux_code::ipc_lib::RunShmObservers run_observers(&index_, true);
return index_.compare_exchange_strong(expected.index_, index.index_,
::std::memory_order_acq_rel);
}
diff --git a/aos/ipc_lib/lockless_queue_death_test.cc b/aos/ipc_lib/lockless_queue_death_test.cc
index 3ed2ce5..2217811 100644
--- a/aos/ipc_lib/lockless_queue_death_test.cc
+++ b/aos/ipc_lib/lockless_queue_death_test.cc
@@ -1,7 +1,11 @@
#include <dlfcn.h>
+#include <elf.h>
#include <linux/futex.h>
#include <sys/mman.h>
+#include <sys/procfs.h>
+#include <sys/ptrace.h>
#include <sys/syscall.h>
+#include <sys/uio.h>
#include <unistd.h>
#include <wait.h>
@@ -14,6 +18,7 @@
#include "aos/ipc_lib/aos_sync.h"
#include "aos/ipc_lib/lockless_queue.h"
#include "aos/ipc_lib/lockless_queue_memory.h"
+#include "aos/ipc_lib/shm_observers.h"
#include "aos/libc/aos_strsignal.h"
#include "aos/realtime.h"
#include "aos/testing/prevent_exit.h"
@@ -124,14 +129,6 @@
};
::std::atomic<GlobalState *> global_state;
-#ifndef __ARM_EABI__
-#ifndef __x86_64__
-#error This code only works on amd64.
-#endif
-
-// The "trap bit" which enables single-stepping for x86.
-const greg_t kTrapFlag = 1 << 8;
-
// Returns true if the address is in the queue memory chunk.
bool IsInLocklessQueueMemory(void *address) {
GlobalState *my_global_state = global_state.load(::std::memory_order_relaxed);
@@ -199,7 +196,6 @@
const int saved_errno = errno;
SIMPLE_ASSERT(signal == SIGSEGV, "wrong signal for SIGSEGV handler");
- ucontext_t *const context = static_cast<ucontext_t *>(context_void);
// Only process memory addresses in our shared memory block.
if (!IsInLocklessQueueMemory(siginfo->si_addr)) {
if (CallChainedAction(old_segv_handler, signal, siginfo, context_void)) {
@@ -215,9 +211,16 @@
HandleWrite(siginfo->si_addr);
ShmProtectOrDie(PROT_READ | PROT_WRITE);
- context->uc_mcontext.gregs[REG_EFL] |= kTrapFlag;
my_global_state->state = DieAtState::kWriting;
errno = saved_errno;
+
+#if defined(__x86_64__)
+ __asm__ __volatile__("int $3" ::: "memory", "cc");
+#elif defined(__aarch64__)
+ __asm__ __volatile__("brk #0" ::: "memory", "cc");
+#else
+#error Unhandled architecture
+#endif
}
// A mutex lock is about to happen. Mark the memory rw, and check to see if we
@@ -234,14 +237,12 @@
// The SEGV handler has set a breakpoint 1 instruction in the future. This
// clears it, marks memory readonly, and continues.
-void trap_handler(int signal, siginfo_t *, void *context_void) {
+void trap_handler(int signal, siginfo_t *, void * /*context*/) {
GlobalState *my_global_state = global_state.load(::std::memory_order_relaxed);
const int saved_errno = errno;
SIMPLE_ASSERT(signal == SIGTRAP, "wrong signal for SIGTRAP handler");
- ucontext_t *const context = static_cast<ucontext_t *>(context_void);
-
- context->uc_mcontext.gregs[REG_EFL] &= ~kTrapFlag;
+ my_global_state->state = DieAtState::kWriting;
SIMPLE_ASSERT(my_global_state->state == DieAtState::kWriting,
"bad state for SIGTRAP");
ShmProtectOrDie(PROT_READ);
@@ -267,7 +268,9 @@
struct sigaction action;
memset(&action, 0, sizeof(action));
action.sa_sigaction = handler;
- action.sa_flags = SA_RESTART | SA_SIGINFO;
+ // We don't do a full normal signal handler exit with ptrace, so SA_NODEFER is
+ // necessary to keep our signal handler active.
+ action.sa_flags = SA_RESTART | SA_SIGINFO | SA_NODEFER;
#ifdef AOS_SANITIZER_thread
// Tsan messes with signal handlers to check for race conditions, and it
// causes problems, so we have to work around it for SIGTRAP.
@@ -286,8 +289,6 @@
PCHECK(sigaction(signal, &action, old_action) == 0);
}
-#endif // ifndef __ARM_EABI__
-
// gtest only allows creating fatal failures in functions returning void...
// status is from wait(2).
void DetectFatalFailures(int status) {
@@ -298,7 +299,7 @@
FAIL() << " child exited because of signal "
<< aos_strsignal(WTERMSIG(status));
} else {
- FAIL() << "child exited with status " << ::std::hex << status;
+ FAIL() << " child exited with status " << ::std::hex << status;
}
}
@@ -332,8 +333,9 @@
InstallHandler(SIGSEGV, segv_handler, &old_segv_handler);
InstallHandler(SIGTRAP, trap_handler, &old_trap_handler);
CHECK_EQ(old_trap_handler.sa_handler, SIG_DFL);
- linux_code::ipc_lib::SetFutexAccessorObservers(futex_before, futex_after);
+ linux_code::ipc_lib::SetShmAccessorObservers(futex_before, futex_after);
+ PCHECK(ptrace(PTRACE_TRACEME, 0, 0, 0) == 0);
ShmProtectOrDie(PROT_READ);
my_global_state->state = DieAtState::kRunning;
@@ -342,19 +344,84 @@
ShmProtectOrDie(PROT_READ | PROT_WRITE);
_exit(0);
} else {
+ // Annoying wrapper type because elf_gregset_t is an array, which C++
+ // handles poorly.
+ struct RestoreState {
+ RestoreState(elf_gregset_t regs_in) {
+ memcpy(regs, regs_in, sizeof(regs));
+ }
+ elf_gregset_t regs;
+ };
+ std::optional<RestoreState> restore_regs;
+ bool pass_trap = false;
// Wait until the child process dies.
while (true) {
int status;
pid_t waited_on = waitpid(pid, &status, 0);
if (waited_on == -1) {
if (errno == EINTR) continue;
- PCHECK(false) << ": waitpid(" << static_cast<intmax_t>(pid) << ", "
- << &status << ", 0) failed";
+ PCHECK(false) << ": waitpid(" << pid << ", " << &status
+ << ", 0) failed";
}
- if (waited_on != pid) {
- PCHECK(false) << ": waitpid got child "
- << static_cast<intmax_t>(waited_on) << " instead of "
- << static_cast<intmax_t>(pid);
+ CHECK_EQ(waited_on, pid)
+ << ": waitpid got child " << waited_on << " instead of " << pid;
+ if (WIFSTOPPED(status)) {
+ // The child was stopped via ptrace.
+ const int stop_signal = WSTOPSIG(status);
+ elf_gregset_t regs;
+ {
+ struct iovec iov;
+ iov.iov_base = ®s;
+ iov.iov_len = sizeof(regs);
+ PCHECK(ptrace(PTRACE_GETREGSET, pid, NT_PRSTATUS, &iov) == 0);
+ CHECK_EQ(iov.iov_len, sizeof(regs))
+ << ": ptrace regset is the wrong size";
+ }
+ if (stop_signal == SIGSEGV) {
+ // It's a SEGV, hopefully due to writing to the shared memory which is
+ // marked read-only. We record the instruction that faulted so we can
+ // look for it while single-stepping, then deliver the signal so the
+ // child can mark it read-write and then poke us to single-step that
+ // instruction.
+
+ CHECK(!restore_regs)
+ << ": Traced child got a SEGV while single-stepping";
+ // Save all the registers to resume execution at the current location
+ // in the child.
+ restore_regs = RestoreState(regs);
+ PCHECK(ptrace(PTRACE_CONT, pid, nullptr, SIGSEGV) == 0);
+ continue;
+ }
+ if (stop_signal == SIGTRAP) {
+ if (pass_trap) {
+ // This is the new SIGTRAP we generated, which we just want to pass
+ // through so the child's signal handler can restore the memory to
+ // read-only
+ PCHECK(ptrace(PTRACE_CONT, pid, nullptr, SIGTRAP) == 0);
+ pass_trap = false;
+ continue;
+ }
+ if (restore_regs) {
+ // Restore the state we saved before delivering the SEGV, and then
+ // single-step that one instruction.
+ struct iovec iov;
+ iov.iov_base = &restore_regs->regs;
+ iov.iov_len = sizeof(restore_regs->regs);
+ PCHECK(ptrace(PTRACE_SETREGSET, pid, NT_PRSTATUS, &iov) == 0);
+ restore_regs = std::nullopt;
+ PCHECK(ptrace(PTRACE_SINGLESTEP, pid, nullptr, nullptr) == 0);
+ continue;
+ }
+ // We executed the single instruction that originally faulted, so
+ // now deliver a SIGTRAP to the child so it can mark the memory
+ // read-only again.
+ pass_trap = true;
+ PCHECK(kill(pid, SIGTRAP) == 0);
+ PCHECK(ptrace(PTRACE_CONT, pid, nullptr, nullptr) == 0);
+ continue;
+ }
+ LOG(FATAL) << "Traced child was stopped with unexpected signal: "
+ << static_cast<int>(WSTOPSIG(status));
}
if (WIFEXITED(status)) {
if (WEXITSTATUS(status) == 0) return true;
@@ -465,6 +532,7 @@
if (RunFunctionDieAtAndCheck(config, prepare, function, check, &test_failed,
die_at, prepare_in_child, expected_writes,
nullptr)) {
+ LOG(INFO) << "Tested " << die_at << " death points";
return;
}
if (test_failed) {
@@ -566,7 +634,7 @@
}
if (print) {
- printf("Bad version:\n");
+ LOG(INFO) << "Bad version:";
PrintLocklessQueueMemory(memory);
}
@@ -574,7 +642,7 @@
LocklessQueueSender::Make(queue).value();
if (print) {
- printf("Cleaned up version:\n");
+ LOG(INFO) << "Cleaned up version:";
PrintLocklessQueueMemory(memory);
}
diff --git a/aos/ipc_lib/shm_observers.cc b/aos/ipc_lib/shm_observers.cc
new file mode 100644
index 0000000..04a6214
--- /dev/null
+++ b/aos/ipc_lib/shm_observers.cc
@@ -0,0 +1,17 @@
+#include "aos/ipc_lib/shm_observers.h"
+
+namespace aos {
+namespace linux_code {
+namespace ipc_lib {
+
+ShmAccessorObserver before_observer = nullptr, after_observer = nullptr;
+
+void SetShmAccessorObservers(ShmAccessorObserver before,
+ ShmAccessorObserver after) {
+ before_observer = before;
+ after_observer = after;
+}
+
+} // namespace ipc_lib
+} // namespace linux_code
+} // namespace aos
diff --git a/aos/ipc_lib/shm_observers.h b/aos/ipc_lib/shm_observers.h
new file mode 100644
index 0000000..5780699
--- /dev/null
+++ b/aos/ipc_lib/shm_observers.h
@@ -0,0 +1,52 @@
+#ifndef AOS_IPC_LIB_SHM_OBSERVERS_H_
+#define AOS_IPC_LIB_SHM_OBSERVERS_H_
+
+#include <type_traits>
+
+namespace aos {
+namespace linux_code {
+namespace ipc_lib {
+
+typedef void (*ShmAccessorObserver)(void *address, bool write);
+
+extern ShmAccessorObserver before_observer, after_observer;
+
+// Sets functions to run before and after SHM write operations which may
+// involved multiple instructions. This is important when doing robustness
+// testing because the memory has to be made writable for the whole operation,
+// otherwise it never succeeds.
+void SetShmAccessorObservers(ShmAccessorObserver before,
+ ShmAccessorObserver after);
+
+// RAII class which runs before_observer during construction and after_observer
+// during destruction.
+class RunShmObservers {
+ public:
+ template <class T>
+ RunShmObservers(T *address, bool write)
+ : address_(static_cast<void *>(
+ const_cast<typename ::std::remove_cv<T>::type *>(address))),
+ write_(write) {
+ if (__builtin_expect(before_observer != nullptr, false)) {
+ before_observer(address_, write_);
+ }
+ }
+ ~RunShmObservers() {
+ if (__builtin_expect(after_observer != nullptr, false)) {
+ after_observer(address_, write_);
+ }
+ }
+
+ RunShmObservers(const RunShmObservers &) = delete;
+ RunShmObservers &operator=(const RunShmObservers &) = delete;
+
+ private:
+ void *const address_;
+ const bool write_;
+};
+
+} // namespace ipc_lib
+} // namespace linux_code
+} // namespace aos
+
+#endif // AOS_IPC_LIB_SHM_OBSERVERS_H_
diff --git a/aos/logging/log_message.fbs b/aos/logging/log_message.fbs
index b68287f..db28a6f 100644
--- a/aos/logging/log_message.fbs
+++ b/aos/logging/log_message.fbs
@@ -22,6 +22,9 @@
// Application name
name:string (id: 3);
+
+ // Total number of LogMessage send failures.
+ send_failures:uint64 (id: 4);
}
root_type LogMessageFbs;
diff --git a/aos/network/message_bridge_client.fbs b/aos/network/message_bridge_client.fbs
index 6efe3a9..40c0698 100644
--- a/aos/network/message_bridge_client.fbs
+++ b/aos/network/message_bridge_client.fbs
@@ -25,7 +25,16 @@
// (indicates congestion)
partial_deliveries:uint (id: 5);
- // TODO(austin): Per channel counts?
+ // Boot UUID of the server.
+ boot_uuid:string (id: 6);
+
+ // Time at which we connected to the server as nanoseconds on the local
+ // monotonic clock. This is not populated when not connected, and defaults
+ // to monotonic_clock::min_time.
+ connected_since_time:int64 = -9223372036854775808 (id: 7);
+
+ // Number of times we've established a connection to the server.
+ connection_count:uint (id: 8);
}
// Statistics for all clients.
diff --git a/aos/network/message_bridge_client_lib.cc b/aos/network/message_bridge_client_lib.cc
index 2b46dc2..9001cce 100644
--- a/aos/network/message_bridge_client_lib.cc
+++ b/aos/network/message_bridge_client_lib.cc
@@ -208,16 +208,14 @@
// the priority scheduler. This only needs to be done once per stream.
client_.SetPriorityScheduler(assoc_id);
- connection_->mutate_state(State::CONNECTED);
- client_status_->SampleReset(client_index_);
+ client_status_->Connect(client_index_);
}
void SctpClientConnection::NodeDisconnected() {
connect_timer_->Setup(
event_loop_->monotonic_now() + chrono::milliseconds(100),
chrono::milliseconds(100));
- connection_->mutate_state(State::DISCONNECTED);
- connection_->mutate_monotonic_offset(0);
+ client_status_->Disconnect(client_index_);
client_status_->SampleReset(client_index_);
}
@@ -257,19 +255,21 @@
// Publish the message.
RawSender *sender = channel_state->sender.get();
- sender->Send(remote_data->data()->data(), remote_data->data()->size(),
- monotonic_clock::time_point(
- chrono::nanoseconds(remote_data->monotonic_sent_time())),
- realtime_clock::time_point(
- chrono::nanoseconds(remote_data->realtime_sent_time())),
- remote_data->queue_index(),
- UUID::FromVector(remote_data->boot_uuid()));
+ sender->CheckOk(sender->Send(
+ remote_data->data()->data(), remote_data->data()->size(),
+ monotonic_clock::time_point(
+ chrono::nanoseconds(remote_data->monotonic_sent_time())),
+ realtime_clock::time_point(
+ chrono::nanoseconds(remote_data->realtime_sent_time())),
+ remote_data->queue_index(),
+ UUID::FromVector(remote_data->boot_uuid())));
client_status_->SampleFilter(
client_index_,
monotonic_clock::time_point(
chrono::nanoseconds(remote_data->monotonic_sent_time())),
- sender->monotonic_sent_time());
+ sender->monotonic_sent_time(),
+ UUID::FromVector(remote_data->boot_uuid()));
if (stream_reply_with_timestamp_[stream]) {
// TODO(austin): Send back less if we are only acking. Maybe only a
diff --git a/aos/network/message_bridge_client_status.cc b/aos/network/message_bridge_client_status.cc
index faade70..aa2484d 100644
--- a/aos/network/message_bridge_client_status.cc
+++ b/aos/network/message_bridge_client_status.cc
@@ -34,6 +34,9 @@
connection_builder.add_duplicate_packets(0);
connection_builder.add_monotonic_offset(0);
connection_builder.add_partial_deliveries(0);
+ connection_builder.add_connected_since_time(
+ monotonic_clock::min_time.time_since_epoch().count());
+ connection_builder.add_connection_count(0);
connection_offsets.emplace_back(connection_builder.Finish());
}
flatbuffers::Offset<
@@ -58,6 +61,7 @@
client_connection_offsets_.reserve(
statistics_.message().connections()->size());
filters_.resize(statistics_.message().connections()->size());
+ uuids_.resize(statistics_.message().connections()->size(), UUID::Zero());
statistics_timer_ = event_loop_->AddTimer([this]() { SendStatistics(); });
statistics_timer_->set_name("statistics");
@@ -69,6 +73,26 @@
});
}
+void MessageBridgeClientStatus::Disconnect(int client_index) {
+ ClientConnection *connection = GetClientConnection(client_index);
+
+ connection->mutate_state(State::DISCONNECTED);
+ connection->mutate_connected_since_time(
+ monotonic_clock::min_time.time_since_epoch().count());
+ connection->mutate_monotonic_offset(0);
+
+ uuids_[client_index] = UUID::Zero();
+}
+
+void MessageBridgeClientStatus::Connect(int client_index) {
+ ClientConnection *connection = GetClientConnection(client_index);
+
+ connection->mutate_state(State::CONNECTED);
+ connection->mutate_connected_since_time(
+ event_loop_->monotonic_now().time_since_epoch().count());
+ connection->mutate_connection_count(connection->connection_count() + 1);
+}
+
void MessageBridgeClientStatus::SendStatistics() {
if (!send_) {
return;
@@ -78,14 +102,23 @@
aos::Sender<ClientStatistics>::Builder builder = sender_.MakeBuilder();
client_connection_offsets_.clear();
- for (const ClientConnection *connection :
- *statistics_.message().connections()) {
+ for (size_t client_index = 0;
+ client_index < statistics_.message().connections()->size();
+ ++client_index) {
+ const ClientConnection *connection =
+ statistics_.message().connections()->Get(client_index);
flatbuffers::Offset<flatbuffers::String> node_name_offset =
builder.fbb()->CreateString(connection->node()->name()->string_view());
Node::Builder node_builder = builder.MakeBuilder<Node>();
node_builder.add_name(node_name_offset);
flatbuffers::Offset<Node> node_offset = node_builder.Finish();
+ flatbuffers::Offset<flatbuffers::String> uuid_offset = 0;
+
+ if (uuids_[client_index] != UUID::Zero()) {
+ uuid_offset = uuids_[client_index].PackString(builder.fbb());
+ }
+
ClientConnection::Builder client_connection_builder =
builder.MakeBuilder<ClientConnection>();
@@ -97,9 +130,24 @@
client_connection_builder.add_duplicate_packets(
connection->duplicate_packets());
}
+
+ if (connection->connected_since_time() !=
+ monotonic_clock::min_time.time_since_epoch().count()) {
+ client_connection_builder.add_connected_since_time(
+ connection->connected_since_time());
+ }
+
+ if (connection->connection_count() != 0) {
+ client_connection_builder.add_connection_count(
+ connection->connection_count());
+ }
client_connection_builder.add_partial_deliveries(
connection->partial_deliveries());
+ if (!uuid_offset.IsNull()) {
+ client_connection_builder.add_boot_uuid(uuid_offset);
+ }
+
// Strip out the monotonic offset if it isn't populated.
TimestampFilter *filter = &filters_[client_connection_offsets_.size()];
if (filter->has_sample()) {
@@ -122,7 +170,7 @@
builder.MakeBuilder<ClientStatistics>();
client_statistics_builder.add_connections(client_connections_offset);
- builder.Send(client_statistics_builder.Finish());
+ builder.CheckOk(builder.Send(client_statistics_builder.Finish()));
}
int MessageBridgeClientStatus::FindClientIndex(std::string_view node_name) {
@@ -152,7 +200,8 @@
void MessageBridgeClientStatus::SampleFilter(
int client_index,
const aos::monotonic_clock::time_point monotonic_sent_time,
- const aos::monotonic_clock::time_point monotonic_delivered_time) {
+ const aos::monotonic_clock::time_point monotonic_delivered_time,
+ const UUID &uuid) {
TimestampFilter *filter = &filters_[client_index];
const std::chrono::nanoseconds offset =
@@ -164,6 +213,8 @@
filter->set_base_offset(offset);
}
+ uuids_[client_index] = uuid;
+
// We can now measure the latency!
filter->Sample(monotonic_delivered_time, offset);
}
diff --git a/aos/network/message_bridge_client_status.h b/aos/network/message_bridge_client_status.h
index d38244a..9c21169 100644
--- a/aos/network/message_bridge_client_status.h
+++ b/aos/network/message_bridge_client_status.h
@@ -42,11 +42,17 @@
void SampleFilter(
int client_index,
const aos::monotonic_clock::time_point monotonic_sent_time,
- const aos::monotonic_clock::time_point monotonic_delivered_time);
+ const aos::monotonic_clock::time_point monotonic_delivered_time,
+ const UUID &uuid);
// Clears out the filter state.
void SampleReset(int client_index) { filters_[client_index].Reset(); }
+ // Disconnects the client.
+ void Disconnect(int client_index);
+ // Connects the client.
+ void Connect(int client_index);
+
// Disables sending out any statistics messages.
void DisableStatistics();
// Enables sending out any statistics messages.
@@ -73,6 +79,8 @@
std::vector<TimestampFilter> filters_;
+ std::vector<UUID> uuids_;
+
// If true, send out the messages.
bool send_ = true;
};
diff --git a/aos/network/message_bridge_server.fbs b/aos/network/message_bridge_server.fbs
index cdf970c..031f801 100644
--- a/aos/network/message_bridge_server.fbs
+++ b/aos/network/message_bridge_server.fbs
@@ -34,12 +34,21 @@
// (indicates congestion)
partial_deliveries:uint (id: 6);
- // TODO(austin): Per channel counts?
+ // Time at which we connected to the client as nanoseconds on the local
+ // monotonic clock. This is not populated when not connected, and defaults
+ // to monotonic_clock::min_time.
+ connected_since_time:int64 = -9223372036854775808 (id: 7);
+
+ // Number of times we've established a connection to the server.
+ connection_count:uint (id: 8);
}
// Statistics for all connections to all the clients.
table ServerStatistics {
connections:[ServerConnection] (id: 0);
+
+ // Count of timestamp send failures
+ timestamp_send_failures:uint64 (id: 1);
}
root_type ServerStatistics;
diff --git a/aos/network/message_bridge_server_lib.cc b/aos/network/message_bridge_server_lib.cc
index 006f2b1..2ca8e48 100644
--- a/aos/network/message_bridge_server_lib.cc
+++ b/aos/network/message_bridge_server_lib.cc
@@ -159,7 +159,7 @@
server_status->AddPartialDeliveries(peer.node_index,
partial_deliveries);
- builder.Send(remote_message_builder.Finish());
+ builder.CheckOk(builder.Send(remote_message_builder.Finish()));
}
break;
}
@@ -171,10 +171,11 @@
void ChannelState::AddPeer(const Connection *connection, int node_index,
ServerConnection *server_connection_statistics,
+ MessageBridgeServerStatus *server_status,
bool logged_remotely,
aos::Sender<RemoteMessage> *timestamp_logger) {
peers_.emplace_back(connection, node_index, server_connection_statistics,
- logged_remotely, timestamp_logger);
+ server_status, logged_remotely, timestamp_logger);
}
int ChannelState::NodeDisconnected(sctp_assoc_t assoc_id) {
@@ -183,7 +184,6 @@
if (peer.sac_assoc_id == assoc_id) {
// TODO(austin): This will not handle multiple clients from
// a single node. But that should be rare.
- peer.server_connection_statistics->mutate_state(State::DISCONNECTED);
peer.sac_assoc_id = 0;
peer.stream = 0;
return peer.node_index;
@@ -192,21 +192,27 @@
return -1;
}
-int ChannelState::NodeConnected(const Node *node, sctp_assoc_t assoc_id,
- int stream, SctpServer *server) {
- VLOG(1) << "Connected to assoc_id: " << assoc_id;
+int ChannelState::NodeConnected(
+ const Node *node, sctp_assoc_t assoc_id, int stream, SctpServer *server,
+ aos::monotonic_clock::time_point monotonic_now) {
+ VLOG(1) << "Connected to assoc_id: " << assoc_id << " for stream " << stream;
for (ChannelState::Peer &peer : peers_) {
if (peer.connection->name()->string_view() == node->name()->string_view()) {
// There's a peer already connected. Disconnect them and take over.
if (peer.sac_assoc_id != 0) {
- LOG(WARNING) << "Peer " << peer.sac_assoc_id
- << " already connected, aborting old connection.";
- server->Abort(peer.sac_assoc_id);
+ if (peer.sac_assoc_id == assoc_id) {
+ LOG(WARNING) << "Reconnecting with the same ID, something got lost";
+ } else {
+ LOG(WARNING) << "Peer " << peer.sac_assoc_id
+ << " already connected, aborting old connection.";
+ server->Abort(peer.sac_assoc_id);
+ }
}
peer.sac_assoc_id = assoc_id;
peer.stream = stream;
- peer.server_connection_statistics->mutate_state(State::CONNECTED);
+ peer.server_status->Connect(peer.node_index, monotonic_now);
+
server->SetStreamPriority(assoc_id, stream, peer.connection->priority());
if (last_message_fetcher_ && peer.connection->time_to_live() == 0) {
last_message_fetcher_->Fetch();
@@ -323,6 +329,7 @@
connection->name()->string_view()),
server_status_.FindServerConnection(
connection->name()->string_view()),
+ &server_status_,
configuration::ChannelMessageIsLoggedOnNode(channel, other_node),
delivery_time_is_logged
? timestamp_loggers_.SenderForChannel(channel, connection)
@@ -392,6 +399,7 @@
->Get(node_index)
->name()
->string_view();
+ server_status_.Disconnect(node_index);
server_status_.ResetFilter(node_index);
server_status_.ClearBootUUID(node_index);
server_status_.ResetPartialDeliveries(node_index);
@@ -452,6 +460,7 @@
CHECK_LE(connect->channels_to_transfer()->size(),
static_cast<size_t>(max_channels()))
<< ": Client has more channels than we do";
+ monotonic_clock::time_point monotonic_now = event_loop_->monotonic_now();
// Account for the control channel and delivery times channel.
size_t channel_index = kControlStreams();
@@ -465,7 +474,7 @@
if (channel_state->Matches(channel)) {
node_index = channel_state->NodeConnected(
connect->node(), message->header.rcvinfo.rcv_assoc_id,
- channel_index, &server_);
+ channel_index, &server_, monotonic_now);
CHECK_NE(node_index, -1);
matched = true;
diff --git a/aos/network/message_bridge_server_lib.h b/aos/network/message_bridge_server_lib.h
index 6f96c02..e70d34a 100644
--- a/aos/network/message_bridge_server_lib.h
+++ b/aos/network/message_bridge_server_lib.h
@@ -38,11 +38,12 @@
struct Peer {
Peer(const Connection *new_connection, int new_node_index,
ServerConnection *new_server_connection_statistics,
- bool new_logged_remotely,
+ MessageBridgeServerStatus *new_server_status, bool new_logged_remotely,
aos::Sender<RemoteMessage> *new_timestamp_logger)
: connection(new_connection),
node_index(new_node_index),
server_connection_statistics(new_server_connection_statistics),
+ server_status(new_server_status),
timestamp_logger(new_timestamp_logger),
logged_remotely(new_logged_remotely) {}
@@ -53,6 +54,7 @@
const aos::Connection *connection;
const int node_index;
ServerConnection *server_connection_statistics;
+ MessageBridgeServerStatus *server_status;
aos::Sender<RemoteMessage> *timestamp_logger = nullptr;
// If true, this message will be logged on a receiving node. We need to
@@ -64,12 +66,13 @@
// Returns the node index which [dis]connected, or -1 if it didn't match.
int NodeDisconnected(sctp_assoc_t assoc_id);
int NodeConnected(const Node *node, sctp_assoc_t assoc_id, int stream,
- SctpServer *server);
+ SctpServer *server,
+ aos::monotonic_clock::time_point monotonic_now);
// Adds a new peer.
void AddPeer(const Connection *connection, int node_index,
ServerConnection *server_connection_statistics,
- bool logged_remotely,
+ MessageBridgeServerStatus *server_status, bool logged_remotely,
aos::Sender<RemoteMessage> *timestamp_logger);
// Returns true if this channel has the same name and type as the other
diff --git a/aos/network/message_bridge_server_status.cc b/aos/network/message_bridge_server_status.cc
index f7553e4..c82158b 100644
--- a/aos/network/message_bridge_server_status.cc
+++ b/aos/network/message_bridge_server_status.cc
@@ -37,6 +37,9 @@
connection_builder.add_sent_packets(0);
connection_builder.add_monotonic_offset(0);
connection_builder.add_partial_deliveries(0);
+ connection_builder.add_connected_since_time(
+ monotonic_clock::min_time.time_since_epoch().count());
+ connection_builder.add_connection_count(0);
connection_offsets.emplace_back(connection_builder.Finish());
}
flatbuffers::Offset<
@@ -87,7 +90,8 @@
filters_.resize(event_loop->configuration()->nodes()->size());
partial_deliveries_.resize(event_loop->configuration()->nodes()->size());
- boot_uuids_.resize(event_loop->configuration()->nodes()->size(), UUID::Zero());
+ boot_uuids_.resize(event_loop->configuration()->nodes()->size(),
+ UUID::Zero());
has_boot_uuids_.resize(event_loop->configuration()->nodes()->size(), false);
timestamp_fetchers_.resize(event_loop->configuration()->nodes()->size());
server_connection_.resize(event_loop->configuration()->nodes()->size());
@@ -161,6 +165,26 @@
server_connection_[node_index]->mutate_monotonic_offset(0);
}
+void MessageBridgeServerStatus::Connect(
+ int node_index, monotonic_clock::time_point monotonic_now) {
+ server_connection_[node_index]->mutate_state(State::CONNECTED);
+ // Only count connections if the timestamp changes. This deduplicates
+ // multiple channel connections at the same point in time.
+ if (server_connection_[node_index]->connected_since_time() !=
+ monotonic_now.time_since_epoch().count()) {
+ server_connection_[node_index]->mutate_connection_count(
+ server_connection_[node_index]->connection_count() + 1);
+ server_connection_[node_index]->mutate_connected_since_time(
+ monotonic_now.time_since_epoch().count());
+ }
+}
+
+void MessageBridgeServerStatus::Disconnect(int node_index) {
+ server_connection_[node_index]->mutate_state(State::DISCONNECTED);
+ server_connection_[node_index]->mutate_connected_since_time(
+ aos::monotonic_clock::min_time.time_since_epoch().count());
+}
+
void MessageBridgeServerStatus::SendStatistics() {
if (!send_) return;
aos::Sender<ServerStatistics>::Builder builder = sender_.MakeBuilder();
@@ -196,6 +220,17 @@
server_connection_builder.add_partial_deliveries(
partial_deliveries_[node_index]);
+ if (connection->connected_since_time() !=
+ monotonic_clock::min_time.time_since_epoch().count()) {
+ server_connection_builder.add_connected_since_time(
+ connection->connected_since_time());
+ }
+
+ if (connection->connection_count() != 0) {
+ server_connection_builder.add_connection_count(
+ connection->connection_count());
+ }
+
// TODO(austin): If it gets stale, drop it too.
if (!filters_[node_index].MissingSamples()) {
server_connection_builder.add_monotonic_offset(
@@ -217,7 +252,10 @@
ServerStatistics::Builder server_statistics_builder =
builder.MakeBuilder<ServerStatistics>();
server_statistics_builder.add_connections(server_connections_offset);
- builder.Send(server_statistics_builder.Finish());
+ server_statistics_builder.add_timestamp_send_failures(
+ timestamp_failure_counter_.failures());
+
+ builder.CheckOk(builder.Send(server_statistics_builder.Finish()));
}
void MessageBridgeServerStatus::Tick() {
@@ -352,20 +390,24 @@
// Send it out over shm, and using that timestamp, then send it out over sctp.
// This avoid some context switches.
if (!send_) return;
- timestamp_sender_.Send(timestamp_copy);
- Context context;
- context.monotonic_event_time = timestamp_sender_.monotonic_sent_time();
- context.realtime_event_time = timestamp_sender_.realtime_sent_time();
- context.queue_index = timestamp_sender_.sent_queue_index();
- context.size = timestamp_copy.span().size();
- context.source_boot_uuid = event_loop_->boot_uuid();
- context.data = timestamp_copy.span().data();
+ const auto err = timestamp_sender_.Send(timestamp_copy);
+ timestamp_failure_counter_.Count(err);
+ // Reply only if we successfully sent the timestamp
+ if (err == RawSender::Error::kOk) {
+ Context context;
+ context.monotonic_event_time = timestamp_sender_.monotonic_sent_time();
+ context.realtime_event_time = timestamp_sender_.realtime_sent_time();
+ context.queue_index = timestamp_sender_.sent_queue_index();
+ context.size = timestamp_copy.span().size();
+ context.source_boot_uuid = event_loop_->boot_uuid();
+ context.data = timestamp_copy.span().data();
- // Since we are building up the timestamp to send here, we need to trigger the
- // SendData call ourselves.
- if (send_data_) {
- send_data_(context);
+ // Since we are building up the timestamp to send here, we need to trigger
+ // the SendData call ourselves.
+ if (send_data_) {
+ send_data_(context);
+ }
}
}
diff --git a/aos/network/message_bridge_server_status.h b/aos/network/message_bridge_server_status.h
index c17e00a..feb1b05 100644
--- a/aos/network/message_bridge_server_status.h
+++ b/aos/network/message_bridge_server_status.h
@@ -45,6 +45,9 @@
// Clears the boot UUID for the provided node.
void ClearBootUUID(int node_index);
+ void Connect(int node_index, monotonic_clock::time_point monotonic_now);
+ void Disconnect(int node_index);
+
// Returns the boot UUID for a node, or an empty string_view if there isn't
// one.
const UUID &BootUUID(int node_index) const { return boot_uuids_[node_index]; }
@@ -113,6 +116,8 @@
// Sender for the timestamps that we are forwarding over the network.
aos::Sender<Timestamp> timestamp_sender_;
+ SendFailureCounter timestamp_failure_counter_;
+
aos::monotonic_clock::time_point last_statistics_send_time_ =
aos::monotonic_clock::min_time;
@@ -123,7 +128,6 @@
std::vector<uint32_t> partial_deliveries_;
};
-
} // namespace message_bridge
} // namespace aos
diff --git a/aos/network/message_bridge_test.cc b/aos/network/message_bridge_test.cc
index 2a43170..d2a9b05 100644
--- a/aos/network/message_bridge_test.cc
+++ b/aos/network/message_bridge_test.cc
@@ -439,7 +439,14 @@
pi2_client_event_loop->node()->name()->string_view()) {
if (connection->state() == State::CONNECTED) {
EXPECT_TRUE(connection->has_boot_uuid());
+ EXPECT_EQ(connection->connection_count(), 1u);
+ EXPECT_LT(monotonic_clock::time_point(chrono::nanoseconds(
+ connection->connected_since_time())),
+ monotonic_clock::now());
connected = true;
+ } else {
+ EXPECT_FALSE(connection->has_connection_count());
+ EXPECT_FALSE(connection->has_connected_since_time());
}
}
}
@@ -450,7 +457,8 @@
examples::Ping::Builder ping_builder =
builder.MakeBuilder<examples::Ping>();
ping_builder.add_value(ping_count + 971);
- builder.Send(ping_builder.Finish());
+ EXPECT_EQ(builder.Send(ping_builder.Finish()),
+ RawSender::Error::kOk);
++ping_count;
}
});
@@ -472,48 +480,95 @@
chrono::milliseconds(-1));
EXPECT_TRUE(connection->has_boot_uuid());
}
+
+ if (connection->state() == State::CONNECTED) {
+ EXPECT_EQ(connection->connection_count(), 1u);
+ EXPECT_LT(monotonic_clock::time_point(
+ chrono::nanoseconds(connection->connected_since_time())),
+ monotonic_clock::now());
+ } else {
+ EXPECT_FALSE(connection->has_connection_count());
+ EXPECT_FALSE(connection->has_connected_since_time());
+ }
}
});
int pi1_client_statistics_count = 0;
- ping_event_loop.MakeWatcher("/pi1/aos", [&pi1_client_statistics_count](
- const ClientStatistics &stats) {
- VLOG(1) << "/pi1/aos ClientStatistics " << FlatbufferToJson(&stats);
+ int pi1_connected_client_statistics_count = 0;
+ ping_event_loop.MakeWatcher(
+ "/pi1/aos",
+ [&pi1_client_statistics_count,
+ &pi1_connected_client_statistics_count](const ClientStatistics &stats) {
+ VLOG(1) << "/pi1/aos ClientStatistics " << FlatbufferToJson(&stats);
- for (const ClientConnection *connection : *stats.connections()) {
- if (connection->has_monotonic_offset()) {
- ++pi1_client_statistics_count;
- // It takes at least 10 microseconds to send a message between the
- // client and server. The min (filtered) time shouldn't be over 10
- // milliseconds on localhost. This might have to bump up if this is
- // proving flaky.
- EXPECT_LT(chrono::nanoseconds(connection->monotonic_offset()),
- chrono::milliseconds(10))
- << " " << connection->monotonic_offset()
- << "ns vs 10000ns on iteration " << pi1_client_statistics_count;
- EXPECT_GT(chrono::nanoseconds(connection->monotonic_offset()),
- chrono::microseconds(10))
- << " " << connection->monotonic_offset()
- << "ns vs 10000ns on iteration " << pi1_client_statistics_count;
- }
- }
- });
+ for (const ClientConnection *connection : *stats.connections()) {
+ if (connection->has_monotonic_offset()) {
+ ++pi1_client_statistics_count;
+ // It takes at least 10 microseconds to send a message between the
+ // client and server. The min (filtered) time shouldn't be over 10
+ // milliseconds on localhost. This might have to bump up if this is
+ // proving flaky.
+ EXPECT_LT(chrono::nanoseconds(connection->monotonic_offset()),
+ chrono::milliseconds(10))
+ << " " << connection->monotonic_offset()
+ << "ns vs 10000ns on iteration " << pi1_client_statistics_count;
+ EXPECT_GT(chrono::nanoseconds(connection->monotonic_offset()),
+ chrono::microseconds(10))
+ << " " << connection->monotonic_offset()
+ << "ns vs 10000ns on iteration " << pi1_client_statistics_count;
+ }
+ if (connection->state() == State::CONNECTED) {
+ EXPECT_EQ(connection->connection_count(), 1u);
+ EXPECT_LT(monotonic_clock::time_point(chrono::nanoseconds(
+ connection->connected_since_time())),
+ monotonic_clock::now());
+ // The first Connected message may not have a UUID in it since no
+ // data has flown. That's fine.
+ if (pi1_connected_client_statistics_count > 0) {
+ EXPECT_TRUE(connection->has_boot_uuid())
+ << ": " << aos::FlatbufferToJson(connection);
+ }
+ ++pi1_connected_client_statistics_count;
+ } else {
+ EXPECT_FALSE(connection->has_connection_count());
+ EXPECT_FALSE(connection->has_connected_since_time());
+ }
+ }
+ });
int pi2_client_statistics_count = 0;
- pong_event_loop.MakeWatcher("/pi2/aos", [&pi2_client_statistics_count](
- const ClientStatistics &stats) {
- VLOG(1) << "/pi2/aos ClientStatistics " << FlatbufferToJson(&stats);
+ int pi2_connected_client_statistics_count = 0;
+ pong_event_loop.MakeWatcher(
+ "/pi2/aos",
+ [&pi2_client_statistics_count,
+ &pi2_connected_client_statistics_count](const ClientStatistics &stats) {
+ VLOG(1) << "/pi2/aos ClientStatistics " << FlatbufferToJson(&stats);
- for (const ClientConnection *connection : *stats.connections()) {
- if (connection->has_monotonic_offset()) {
- ++pi2_client_statistics_count;
- EXPECT_LT(chrono::nanoseconds(connection->monotonic_offset()),
- chrono::milliseconds(10));
- EXPECT_GT(chrono::nanoseconds(connection->monotonic_offset()),
- chrono::microseconds(10));
- }
- }
- });
+ for (const ClientConnection *connection : *stats.connections()) {
+ if (connection->has_monotonic_offset()) {
+ ++pi2_client_statistics_count;
+ EXPECT_LT(chrono::nanoseconds(connection->monotonic_offset()),
+ chrono::milliseconds(10))
+ << ": got " << aos::FlatbufferToJson(connection);
+ EXPECT_GT(chrono::nanoseconds(connection->monotonic_offset()),
+ chrono::microseconds(10))
+ << ": got " << aos::FlatbufferToJson(connection);
+ }
+ if (connection->state() == State::CONNECTED) {
+ EXPECT_EQ(connection->connection_count(), 1u);
+ EXPECT_LT(monotonic_clock::time_point(chrono::nanoseconds(
+ connection->connected_since_time())),
+ monotonic_clock::now());
+ if (pi2_connected_client_statistics_count > 0) {
+ EXPECT_TRUE(connection->has_boot_uuid());
+ }
+ ++pi2_connected_client_statistics_count;
+ } else {
+ EXPECT_FALSE(connection->has_connection_count());
+ EXPECT_FALSE(connection->has_connected_since_time());
+ }
+ }
+ });
ping_event_loop.MakeWatcher("/pi1/aos", [](const Timestamp ×tamp) {
EXPECT_TRUE(timestamp.has_offsets());
@@ -755,6 +810,8 @@
pi2_server_statistics_fetcher->connections()->Get(0);
EXPECT_EQ(pi1_connection->state(), State::CONNECTED);
+ EXPECT_EQ(pi1_connection->connection_count(), 1u);
+ EXPECT_TRUE(pi1_connection->has_connected_since_time());
EXPECT_TRUE(pi1_connection->has_monotonic_offset());
EXPECT_LT(chrono::nanoseconds(pi1_connection->monotonic_offset()),
chrono::milliseconds(1));
@@ -763,6 +820,8 @@
EXPECT_TRUE(pi1_connection->has_boot_uuid());
EXPECT_EQ(pi2_connection->state(), State::CONNECTED);
+ EXPECT_EQ(pi2_connection->connection_count(), 1u);
+ EXPECT_TRUE(pi2_connection->has_connected_since_time());
EXPECT_TRUE(pi2_connection->has_monotonic_offset());
EXPECT_LT(chrono::nanoseconds(pi2_connection->monotonic_offset()),
chrono::milliseconds(1));
@@ -786,11 +845,15 @@
pi2_server_statistics_fetcher->connections()->Get(0);
EXPECT_EQ(pi1_connection->state(), State::DISCONNECTED);
+ EXPECT_EQ(pi1_connection->connection_count(), 1u);
+ EXPECT_FALSE(pi1_connection->has_connected_since_time());
EXPECT_FALSE(pi1_connection->has_monotonic_offset());
EXPECT_FALSE(pi1_connection->has_boot_uuid());
EXPECT_EQ(pi2_connection->state(), State::CONNECTED);
EXPECT_FALSE(pi2_connection->has_monotonic_offset());
EXPECT_TRUE(pi2_connection->has_boot_uuid());
+ EXPECT_EQ(pi2_connection->connection_count(), 1u);
+ EXPECT_TRUE(pi2_connection->has_connected_since_time());
}
{
@@ -808,19 +871,27 @@
pi2_server_statistics_fetcher->connections()->Get(0);
EXPECT_EQ(pi1_connection->state(), State::CONNECTED);
+ EXPECT_EQ(pi1_connection->connection_count(), 2u);
+ EXPECT_TRUE(pi1_connection->has_connected_since_time());
EXPECT_TRUE(pi1_connection->has_monotonic_offset());
EXPECT_LT(chrono::nanoseconds(pi1_connection->monotonic_offset()),
- chrono::milliseconds(1));
+ chrono::milliseconds(1))
+ << ": " << FlatbufferToJson(pi1_connection);
EXPECT_GT(chrono::nanoseconds(pi1_connection->monotonic_offset()),
- chrono::milliseconds(-1));
+ chrono::milliseconds(-1))
+ << ": " << FlatbufferToJson(pi1_connection);
EXPECT_TRUE(pi1_connection->has_boot_uuid());
EXPECT_EQ(pi2_connection->state(), State::CONNECTED);
+ EXPECT_EQ(pi2_connection->connection_count(), 1u);
+ EXPECT_TRUE(pi2_connection->has_connected_since_time());
EXPECT_TRUE(pi2_connection->has_monotonic_offset());
EXPECT_LT(chrono::nanoseconds(pi2_connection->monotonic_offset()),
- chrono::milliseconds(1));
+ chrono::milliseconds(1))
+ << ": " << FlatbufferToJson(pi2_connection);
EXPECT_GT(chrono::nanoseconds(pi2_connection->monotonic_offset()),
- chrono::milliseconds(-1));
+ chrono::milliseconds(-1))
+ << ": " << FlatbufferToJson(pi2_connection);
EXPECT_TRUE(pi2_connection->has_boot_uuid());
StopPi2Client();
@@ -904,6 +975,8 @@
EXPECT_GT(chrono::nanoseconds(pi1_connection->monotonic_offset()),
chrono::milliseconds(-1));
EXPECT_TRUE(pi1_connection->has_boot_uuid());
+ EXPECT_TRUE(pi1_connection->has_connected_since_time());
+ EXPECT_EQ(pi1_connection->connection_count(), 1u);
EXPECT_EQ(pi2_connection->state(), State::CONNECTED);
EXPECT_TRUE(pi2_connection->has_monotonic_offset());
@@ -912,6 +985,8 @@
EXPECT_GT(chrono::nanoseconds(pi2_connection->monotonic_offset()),
chrono::milliseconds(-1));
EXPECT_TRUE(pi2_connection->has_boot_uuid());
+ EXPECT_TRUE(pi2_connection->has_connected_since_time());
+ EXPECT_EQ(pi2_connection->connection_count(), 1u);
StopPi2Server();
}
@@ -930,9 +1005,15 @@
EXPECT_EQ(pi1_server_connection->state(), State::CONNECTED);
EXPECT_FALSE(pi1_server_connection->has_monotonic_offset());
+ EXPECT_TRUE(pi1_server_connection->has_connected_since_time());
+ EXPECT_EQ(pi1_server_connection->connection_count(), 1u);
+
EXPECT_TRUE(pi1_server_connection->has_boot_uuid());
EXPECT_EQ(pi1_client_connection->state(), State::DISCONNECTED);
EXPECT_FALSE(pi1_client_connection->has_monotonic_offset());
+ EXPECT_FALSE(pi1_client_connection->has_connected_since_time());
+ EXPECT_EQ(pi1_client_connection->connection_count(), 1u);
+ EXPECT_FALSE(pi1_client_connection->has_boot_uuid());
}
{
@@ -943,11 +1024,14 @@
// And confirm we are synchronized again.
EXPECT_TRUE(pi1_server_statistics_fetcher.Fetch());
EXPECT_TRUE(pi2_server_statistics_fetcher.Fetch());
+ EXPECT_TRUE(pi1_client_statistics_fetcher.Fetch());
const ServerConnection *const pi1_connection =
pi1_server_statistics_fetcher->connections()->Get(0);
const ServerConnection *const pi2_connection =
pi2_server_statistics_fetcher->connections()->Get(0);
+ const ClientConnection *const pi1_client_connection =
+ pi1_client_statistics_fetcher->connections()->Get(0);
EXPECT_EQ(pi1_connection->state(), State::CONNECTED);
EXPECT_TRUE(pi1_connection->has_monotonic_offset());
@@ -957,6 +1041,11 @@
chrono::milliseconds(-1));
EXPECT_TRUE(pi1_connection->has_boot_uuid());
+ EXPECT_EQ(pi1_client_connection->state(), State::CONNECTED);
+ EXPECT_TRUE(pi1_client_connection->has_connected_since_time());
+ EXPECT_EQ(pi1_client_connection->connection_count(), 2u);
+ EXPECT_TRUE(pi1_client_connection->has_boot_uuid());
+
EXPECT_EQ(pi2_connection->state(), State::CONNECTED);
EXPECT_TRUE(pi2_connection->has_monotonic_offset());
EXPECT_LT(chrono::nanoseconds(pi2_connection->monotonic_offset()),
@@ -985,7 +1074,7 @@
aos::Sender<examples::Ping>::Builder builder = sender->MakeBuilder();
examples::Ping::Builder ping_builder = builder.MakeBuilder<examples::Ping>();
ping_builder.add_value(value);
- builder.Send(ping_builder.Finish());
+ builder.CheckOk(builder.Send(ping_builder.Finish()));
}
// Tests that when a message is sent before the bridge starts up, but is
@@ -1148,7 +1237,7 @@
examples::Ping::Builder ping_builder =
builder.MakeBuilder<examples::Ping>();
ping_builder.add_value(1);
- builder.Send(ping_builder.Finish());
+ builder.CheckOk(builder.Send(ping_builder.Finish()));
}
MakePi1Client();
diff --git a/aos/network/multinode_timestamp_filter.cc b/aos/network/multinode_timestamp_filter.cc
index 23a9d8e..07dffe8 100644
--- a/aos/network/multinode_timestamp_filter.cc
+++ b/aos/network/multinode_timestamp_filter.cc
@@ -371,18 +371,6 @@
return ×_.back();
}
-void InterpolatedTimeConverter::QueueUntil(
- std::function<bool(const std::tuple<distributed_clock::time_point,
- std::vector<BootTimestamp>> &)>
- not_done) {
- while (!at_end_ && (times_.empty() || not_done(times_.back()))) {
- QueueNextTimestamp();
- }
-
- CHECK(!times_.empty())
- << ": Found no times to do timestamp estimation, please investigate.";
-}
-
void InterpolatedTimeConverter::ObserveTimePassed(
distributed_clock::time_point time) {
// Keep at least 500 points and time_estimation_buffer_seconds seconds of
@@ -1265,8 +1253,15 @@
TimestampProblem *problem, const std::vector<BootTimestamp> &base_times) {
// Ok, now solve for the minimum time on each channel.
std::vector<BootTimestamp> result_times;
- NoncausalTimestampFilter *next_filter = nullptr;
- size_t solution_index = 0;
+
+ struct CandidateTimes {
+ BootTimestamp next_node_time = BootTimestamp::max_time();
+ BootDuration next_node_duration;
+ NoncausalTimestampFilter *next_node_filter = nullptr;
+ };
+
+ std::vector<CandidateTimes> candidate_times;
+ candidate_times.resize(base_times.size());
{
size_t node_a_index = 0;
for (const auto &filters : filters_per_node_) {
@@ -1296,6 +1291,10 @@
// Found no active filters. Either this node is off, or disconnected, or
// we are before the log file starts or after the log file ends.
if (next_node_time == BootTimestamp::max_time()) {
+ candidate_times[node_a_index] =
+ CandidateTimes{.next_node_time = next_node_time,
+ .next_node_duration = next_node_duration,
+ .next_node_filter = next_node_filter};
++node_a_index;
continue;
}
@@ -1339,148 +1338,166 @@
next_node_filter = nullptr;
}
}
+ candidate_times[node_a_index] =
+ CandidateTimes{.next_node_time = next_node_time,
+ .next_node_duration = next_node_duration,
+ .next_node_filter = next_node_filter};
+ ++node_a_index;
+ }
+ }
- if (next_node_filter != nullptr) {
- VLOG(2) << "Trying " << next_node_time << " " << next_node_duration
- << " for node " << node_a_index;
- } else {
- VLOG(1) << "Trying " << next_node_time << " for node " << node_a_index;
+ NoncausalTimestampFilter *next_filter = nullptr;
+ size_t solution_index = 0;
+ for (size_t node_a_index = 0; node_a_index < candidate_times.size();
+ ++node_a_index) {
+ VLOG(2) << "Investigating filter for node " << node_a_index;
+ BootTimestamp next_node_time = candidate_times[node_a_index].next_node_time;
+ BootDuration next_node_duration =
+ candidate_times[node_a_index].next_node_duration;
+ NoncausalTimestampFilter *next_node_filter =
+ candidate_times[node_a_index].next_node_filter;
+ if (next_node_time == BootTimestamp::max_time()) {
+ continue;
+ }
+
+ if (next_node_filter != nullptr) {
+ VLOG(2) << "Trying " << next_node_time << " " << next_node_duration
+ << " for node " << node_a_index;
+ } else {
+ VLOG(1) << "Trying " << next_node_time << " for node " << node_a_index;
+ }
+
+ // TODO(austin): If we start supporting only having 1 direction of
+ // timestamps, we might need to change our assumptions around
+ // BootTimestamp and BootDuration.
+
+ // If we haven't rebooted, we can seed the optimization problem with a
+ // pretty good initial guess.
+ if (next_node_time.boot == base_times[node_a_index].boot) {
+ // Optimize, and save the time into times if earlier than time.
+ for (size_t node_index = 0; node_index < base_times.size();
+ ++node_index) {
+ // Offset everything based on the elapsed time since the last solution
+ // on the node we are solving for. The rate that time elapses should
+ // be ~1.
+ problem->set_base_clock(
+ node_index,
+ {base_times[node_index].boot,
+ base_times[node_index].time +
+ (next_node_time.time - base_times[node_a_index].time)});
}
-
- // TODO(austin): If we start supporting only having 1 direction of
- // timestamps, we might need to change our assumptions around
- // BootTimestamp and BootDuration.
-
- // If we haven't rebooted, we can seed the optimization problem with a
- // pretty good initial guess.
- if (next_node_time.boot == base_times[node_a_index].boot) {
- // Optimize, and save the time into times if earlier than time.
- for (size_t node_index = 0; node_index < base_times.size();
- ++node_index) {
- // Offset everything based on the elapsed time since the last solution
- // on the node we are solving for. The rate that time elapses should
- // be ~1.
- problem->set_base_clock(
- node_index,
- {base_times[node_index].boot,
- base_times[node_index].time +
- (next_node_time.time - base_times[node_a_index].time)});
- }
- } else {
- // Otherwise just pick the base time from before to try.
- for (size_t node_index = 0; node_index < base_times.size();
- ++node_index) {
- problem->set_base_clock(node_index, base_times[node_index]);
- }
+ } else {
+ // Otherwise just pick the base time from before to try.
+ for (size_t node_index = 0; node_index < base_times.size();
+ ++node_index) {
+ problem->set_base_clock(node_index, base_times[node_index]);
}
+ }
- problem->set_solution_node(node_a_index);
- problem->set_base_clock(problem->solution_node(), next_node_time);
- if (VLOG_IS_ON(2)) {
- problem->Debug();
+ problem->set_solution_node(node_a_index);
+ problem->set_base_clock(problem->solution_node(), next_node_time);
+ if (VLOG_IS_ON(2)) {
+ problem->Debug();
+ }
+ // TODO(austin): Solve all problems at once :)
+ std::vector<BootTimestamp> solution = problem->SolveNewton();
+
+ // Bypass checking if order validation is turned off. This lets us dump a
+ // CSV file so we can view the problem and figure out what to do. The
+ // results won't make sense.
+ if (!problem->ValidateSolution(solution)) {
+ LOG(WARNING) << "Invalid solution, constraints not met.";
+ for (size_t i = 0; i < solution.size(); ++i) {
+ LOG(INFO) << " " << solution[i];
}
- // TODO(austin): Solve all problems at once :)
- std::vector<BootTimestamp> solution = problem->SolveNewton();
-
- // Bypass checking if order validation is turned off. This lets us dump a
- // CSV file so we can view the problem and figure out what to do. The
- // results won't make sense.
- if (!problem->ValidateSolution(solution)) {
- LOG(WARNING) << "Invalid solution, constraints not met.";
- for (size_t i = 0; i < solution.size(); ++i) {
- LOG(INFO) << " " << solution[i];
- }
- problem->Debug();
- if (!skip_order_validation_) {
- LOG(FATAL) << "Bailing, use --skip_order_validation to continue. "
- "Use at your own risk.";
- }
+ problem->Debug();
+ if (!skip_order_validation_) {
+ LOG(FATAL) << "Bailing, use --skip_order_validation to continue. "
+ "Use at your own risk.";
}
+ }
- if (VLOG_IS_ON(1)) {
- VLOG(1) << "Candidate solution for node " << node_a_index << " is";
- for (size_t i = 0; i < solution.size(); ++i) {
- VLOG(1) << " " << solution[i];
- }
+ if (VLOG_IS_ON(1)) {
+ VLOG(1) << "Candidate solution for node " << node_a_index << " is";
+ for (size_t i = 0; i < solution.size(); ++i) {
+ VLOG(1) << " " << solution[i];
}
+ }
- if (result_times.empty()) {
- // This is the first solution candidate, so don't bother comparing.
+ if (result_times.empty()) {
+ // This is the first solution candidate, so don't bother comparing.
+ result_times = std::move(solution);
+ next_filter = next_node_filter;
+ solution_index = node_a_index;
+ continue;
+ }
+
+ switch (CompareTimes(result_times, solution)) {
+ // The old solution is before or at the new solution. This means that
+ // the old solution is a better result, so ignore this one.
+ case TimeComparison::kBefore:
+ case TimeComparison::kEq:
+ break;
+ case TimeComparison::kAfter:
+ // The new solution is better! Save it.
result_times = std::move(solution);
next_filter = next_node_filter;
solution_index = node_a_index;
- ++node_a_index;
- continue;
- }
-
- switch (CompareTimes(result_times, solution)) {
- // The old solution is before or at the new solution. This means that
- // the old solution is a better result, so ignore this one.
- case TimeComparison::kBefore:
- case TimeComparison::kEq:
- break;
- case TimeComparison::kAfter:
- // The new solution is better! Save it.
- result_times = std::move(solution);
- next_filter = next_node_filter;
- solution_index = node_a_index;
- break;
- case TimeComparison::kInvalid: {
- // If times are close enough, drop the invalid time.
- const chrono::nanoseconds invalid_distance =
- InvalidDistance(result_times, solution);
- if (invalid_distance <=
- chrono::nanoseconds(FLAGS_max_invalid_distance_ns)) {
- VLOG(1) << "Times can't be compared by " << invalid_distance.count()
- << "ns";
- for (size_t i = 0; i < result_times.size(); ++i) {
- VLOG(1) << " " << result_times[i] << " vs " << solution[i]
- << " -> "
- << (result_times[i].time - solution[i].time).count()
- << "ns";
- }
- VLOG(1) << "Ignoring because it is close enough.";
- if (next_node_filter) {
- std::optional<
- std::tuple<logger::BootTimestamp, logger::BootDuration>>
- result = next_node_filter->Consume();
- CHECK(result);
- next_node_filter->Pop(std::get<0>(*result) -
- time_estimation_buffer_seconds_);
- }
- break;
- }
- // Somehow the new solution is better *and* worse than the old
- // solution... This is an internal failure because that means time
- // goes backwards on a node.
- CHECK_EQ(result_times.size(), solution.size());
- LOG(INFO) << "Times can't be compared by " << invalid_distance.count()
- << "ns";
+ break;
+ case TimeComparison::kInvalid: {
+ // If times are close enough, drop the invalid time.
+ const chrono::nanoseconds invalid_distance =
+ InvalidDistance(result_times, solution);
+ if (invalid_distance <=
+ chrono::nanoseconds(FLAGS_max_invalid_distance_ns)) {
+ VLOG(1) << "Times can't be compared by " << invalid_distance.count()
+ << "ns";
for (size_t i = 0; i < result_times.size(); ++i) {
- LOG(INFO) << " " << result_times[i] << " vs " << solution[i]
- << " -> "
- << (result_times[i].time - solution[i].time).count()
- << "ns";
+ VLOG(1) << " " << result_times[i] << " vs " << solution[i]
+ << " -> "
+ << (result_times[i].time - solution[i].time).count()
+ << "ns";
}
+ VLOG(1) << "Ignoring because it is close enough.";
+ if (next_node_filter) {
+ std::optional<
+ std::tuple<logger::BootTimestamp, logger::BootDuration>>
+ result = next_node_filter->Consume();
+ CHECK(result);
+ next_node_filter->Pop(std::get<0>(*result) -
+ time_estimation_buffer_seconds_);
+ }
+ break;
+ }
+ // Somehow the new solution is better *and* worse than the old
+ // solution... This is an internal failure because that means time
+ // goes backwards on a node.
+ CHECK_EQ(result_times.size(), solution.size());
+ LOG(INFO) << "Times can't be compared by " << invalid_distance.count()
+ << "ns";
+ for (size_t i = 0; i < result_times.size(); ++i) {
+ LOG(INFO) << " " << result_times[i] << " vs " << solution[i]
+ << " -> "
+ << (result_times[i].time - solution[i].time).count()
+ << "ns";
+ }
- if (skip_order_validation_) {
- if (next_node_filter) {
- std::optional<
- std::tuple<logger::BootTimestamp, logger::BootDuration>>
- result = next_node_filter->Consume();
- CHECK(result);
- next_node_filter->Pop(std::get<0>(*result) -
- time_estimation_buffer_seconds_);
- }
- LOG(ERROR) << "Skipping because --skip_order_validation";
- break;
- } else {
- LOG(FATAL) << "Please investigate. Use --max_invalid_distance_ns="
- << invalid_distance.count() << " to ignore this.";
+ if (skip_order_validation_) {
+ if (next_node_filter) {
+ std::optional<
+ std::tuple<logger::BootTimestamp, logger::BootDuration>>
+ result = next_node_filter->Consume();
+ CHECK(result);
+ next_node_filter->Pop(std::get<0>(*result) -
+ time_estimation_buffer_seconds_);
}
- } break;
- }
- ++node_a_index;
+ LOG(ERROR) << "Skipping because --skip_order_validation";
+ break;
+ } else {
+ LOG(FATAL) << "Please investigate. Use --max_invalid_distance_ns="
+ << invalid_distance.count() << " to ignore this.";
+ }
+ } break;
}
}
if (VLOG_IS_ON(1)) {
diff --git a/aos/network/multinode_timestamp_filter.h b/aos/network/multinode_timestamp_filter.h
index 7de8041..d9c6f59 100644
--- a/aos/network/multinode_timestamp_filter.h
+++ b/aos/network/multinode_timestamp_filter.h
@@ -13,6 +13,7 @@
#include "aos/events/simulated_event_loop.h"
#include "aos/network/timestamp_filter.h"
#include "aos/time/time.h"
+#include "glog/logging.h"
namespace aos {
namespace message_bridge {
@@ -198,11 +199,15 @@
// Queues timestamps util the last time in the queue matches the provided
// function.
- void QueueUntil(
- std::function<
- bool(const std::tuple<distributed_clock::time_point,
- std::vector<logger::BootTimestamp>> &)>
- not_done);
+ template <typename F>
+ void QueueUntil(F not_done) {
+ while (!at_end_ && (times_.empty() || not_done(times_.back()))) {
+ QueueNextTimestamp();
+ }
+
+ CHECK(!times_.empty())
+ << ": Found no times to do timestamp estimation, please investigate.";
+ }
// The number of nodes to enforce.
const size_t node_count_;
diff --git a/aos/network/timestamp_filter.h b/aos/network/timestamp_filter.h
index 0645139..c395554 100644
--- a/aos/network/timestamp_filter.h
+++ b/aos/network/timestamp_filter.h
@@ -344,7 +344,7 @@
return std::nullopt;
}
- size_t current_filter = current_filter_;
+ size_t current_filter = std::max(static_cast<ssize_t>(0), current_filter_);
while (true) {
const BootFilter &filter = filters_[current_filter];
std::optional<
@@ -372,21 +372,23 @@
if (filters_.size() == 0u) {
return std::nullopt;
}
- DCHECK_LT(current_filter_, filters_.size());
+ DCHECK_LT(current_filter_, static_cast<ssize_t>(filters_.size()));
while (true) {
- BootFilter &filter = filters_[current_filter_];
std::optional<
std::tuple<monotonic_clock::time_point, std::chrono::nanoseconds>>
- result = filter.filter.Consume();
+ result =
+ current_filter_ < 0 ? std::nullopt
+ : filters_[current_filter_].filter.Consume();
if (!result) {
- if (current_filter_ + 1 == filters_.size()) {
+ if (static_cast<size_t>(current_filter_ + 1) == filters_.size()) {
return std::nullopt;
} else {
++current_filter_;
continue;
}
}
+ BootFilter &filter = filters_[current_filter_];
return std::make_tuple(
logger::BootTimestamp{static_cast<size_t>(filter.boot.first),
std::get<0>(*result)},
@@ -629,10 +631,10 @@
return &it->filter;
}
- if (!filters_.empty()) {
- CHECK_LT(current_filter_, filters_.size());
+ if (!filters_.empty() && current_filter_ >= 0) {
+ CHECK_LT(static_cast<size_t>(current_filter_), filters_.size());
CHECK_GE(boota, filters_[current_filter_].boot.first);
- CHECK_GE(bootb, filters_[current_filter_].boot.second);
+ CHECK_GE(bootb, filters_[current_filter_].boot.second) << NodeNames();
}
SingleFilter *result =
&filters_
@@ -666,14 +668,15 @@
std::lower_bound(filters_.begin(), filters_.end(),
std::make_pair(boota, bootb), FilterLessThanLower);
CHECK(it != filters_.end());
- CHECK(it->boot == std::make_pair(boota, bootb));
+ CHECK(it->boot == std::make_pair(boota, bootb))
+ << NodeNames() << " Failed to find " << boota << ", " << bootb;
return &it->filter;
}
private:
std::vector<BootFilter> filters_;
- size_t current_filter_ = 0;
+ ssize_t current_filter_ = -1;
// The filter to resume popping from.
size_t pop_filter_ = 0;
diff --git a/aos/network/www/aos_plotter.ts b/aos/network/www/aos_plotter.ts
index 270c0d9..0145c07 100644
--- a/aos/network/www/aos_plotter.ts
+++ b/aos/network/www/aos_plotter.ts
@@ -190,7 +190,6 @@
private plots: AosPlot[] = [];
private messages = new Set<MessageHandler>();
- private lowestHeight = 0;
constructor(private readonly connection: Connection) {
// Set up to redraw at some regular interval. The exact rate is unimportant.
setInterval(() => {
@@ -223,24 +222,19 @@
// Add a new figure at the provided position with the provided size within
// parentElement.
addPlot(
- parentElement: Element, topLeft: number[]|null = null,
+ parentElement: Element,
size: number[] = [AosPlotter.DEFAULT_WIDTH, AosPlotter.DEFAULT_HEIGHT]):
AosPlot {
- if (topLeft === null) {
- topLeft = [0, this.lowestHeight];
- }
const div = document.createElement("div");
- div.style.top = topLeft[1].toString();
- div.style.left = topLeft[0].toString();
- div.style.position = 'absolute';
+ div.style.position = 'relative';
+ div.style.width = size[0].toString() + "px";
+ div.style.height = size[1].toString() + "px";
parentElement.appendChild(div);
- const newPlot = new Plot(div, size[0], size[1]);
+ const newPlot = new Plot(div);
for (let plot of this.plots.values()) {
newPlot.linkXAxis(plot.plot);
}
this.plots.push(new AosPlot(this, newPlot));
- // Height goes up as you go down.
- this.lowestHeight = Math.max(topLeft[1] + size[1], this.lowestHeight);
return this.plots[this.plots.length - 1];
}
private draw(): void {
diff --git a/aos/network/www/colors.ts b/aos/network/www/colors.ts
index b173e13..5c5dd86 100644
--- a/aos/network/www/colors.ts
+++ b/aos/network/www/colors.ts
@@ -1,4 +1,6 @@
export const RED: number[] = [1, 0, 0];
+export const ORANGE: number[] = [1, 0.65, 0];
+export const YELLOW: number[] = [1, 1, 0];
export const GREEN: number[] = [0, 1, 0];
export const BLUE: number[] = [0, 0, 1];
export const BROWN: number[] = [0.6, 0.3, 0];
diff --git a/aos/network/www/demo_plot.ts b/aos/network/www/demo_plot.ts
index cbd133a..ecd4da6 100644
--- a/aos/network/www/demo_plot.ts
+++ b/aos/network/www/demo_plot.ts
@@ -23,12 +23,12 @@
const height = AosPlotter.DEFAULT_HEIGHT;
const benchmarkDiv = document.createElement('div');
- benchmarkDiv.style.top = (height * 2).toString();
- benchmarkDiv.style.left = '0';
- benchmarkDiv.style.position = 'absolute';
+ benchmarkDiv.style.width = width.toString() + "px";
+ benchmarkDiv.style.height = height.toString() + "px";
+ benchmarkDiv.style.position = 'relative';
parentDiv.appendChild(benchmarkDiv);
- const benchmarkPlot = new Plot(benchmarkDiv, width, height);
+ const benchmarkPlot = new Plot(benchmarkDiv);
const aosPlotter = new AosPlotter(conn);
diff --git a/aos/network/www/plotter.ts b/aos/network/www/plotter.ts
index e56a808..842f1b7 100644
--- a/aos/network/www/plotter.ts
+++ b/aos/network/www/plotter.ts
@@ -409,7 +409,7 @@
public static readonly COLOR_CYCLE = [
Colors.RED, Colors.GREEN, Colors.BLUE, Colors.BROWN, Colors.PINK,
- Colors.CYAN, Colors.WHITE
+ Colors.CYAN, Colors.WHITE, Colors.ORANGE, Colors.YELLOW
];
private colorCycleIndex = 0;
@@ -850,6 +850,7 @@
export class Plot {
private canvas = document.createElement('canvas');
private textCanvas = document.createElement('canvas');
+ private lineDrawerContext: WebGLRenderingContext;
private drawer: LineDrawer;
private static keysPressed:
object = {'x': false, 'y': false, 'Escape': false};
@@ -869,25 +870,26 @@
private defaultYRange: number[]|null = null;
private zoomRectangle: Line;
- constructor(wrapperDiv: HTMLDivElement, width: number, height: number) {
+ constructor(wrapperDiv: HTMLDivElement) {
wrapperDiv.appendChild(this.canvas);
wrapperDiv.appendChild(this.textCanvas);
this.lastTimeMs = (new Date()).getTime();
- this.canvas.width =
- width - this.axisLabelBuffer.left - this.axisLabelBuffer.right;
- this.canvas.height =
- height - this.axisLabelBuffer.top - this.axisLabelBuffer.bottom;
- this.canvas.style.left = this.axisLabelBuffer.left.toString();
- this.canvas.style.top = this.axisLabelBuffer.top.toString();
- this.canvas.style.position = 'absolute';
- this.drawer = new LineDrawer(this.canvas.getContext('webgl'));
+ this.canvas.style.paddingLeft = this.axisLabelBuffer.left.toString() + "px";
+ this.canvas.style.paddingRight = this.axisLabelBuffer.right.toString() + "px";
+ this.canvas.style.paddingTop = this.axisLabelBuffer.top.toString() + "px";
+ this.canvas.style.paddingBottom = this.axisLabelBuffer.bottom.toString() + "px";
+ this.canvas.style.width = "100%";
+ this.canvas.style.height = "100%";
+ this.canvas.style.boxSizing = "border-box";
- this.textCanvas.width = width;
- this.textCanvas.height = height;
- this.textCanvas.style.left = '0';
- this.textCanvas.style.top = '0';
+ this.canvas.style.position = 'absolute';
+ this.lineDrawerContext = this.canvas.getContext('webgl');
+ this.drawer = new LineDrawer(this.lineDrawerContext);
+
this.textCanvas.style.position = 'absolute';
+ this.textCanvas.style.width = "100%";
+ this.textCanvas.style.height = "100%";
this.textCanvas.style.pointerEvents = 'none';
this.canvas.addEventListener('dblclick', (e) => {
@@ -934,9 +936,22 @@
}
mouseCanvasLocation(event: MouseEvent): number[] {
+ const computedStyle = window.getComputedStyle(this.canvas);
+ const paddingLeftStr = computedStyle.getPropertyValue('padding-left');
+ const paddingTopStr = computedStyle.getPropertyValue('padding-top');
+ if (paddingLeftStr.substring(paddingLeftStr.length - 2) != "px") {
+ throw new Error("Left padding should be specified in pixels.");
+ }
+ if (paddingTopStr.substring(paddingTopStr.length - 2) != "px") {
+ throw new Error("Left padding should be specified in pixels.");
+ }
+ // Javascript will just ignore the extra "px".
+ const paddingLeft = Number.parseInt(paddingLeftStr);
+ const paddingTop = Number.parseInt(paddingTopStr);
+
return [
- event.offsetX * 2.0 / this.canvas.width - 1.0,
- -event.offsetY * 2.0 / this.canvas.height + 1.0
+ (event.offsetX - paddingLeft) * 2.0 / this.canvas.width - 1.0,
+ -(event.offsetY - paddingTop) * 2.0 / this.canvas.height + 1.0
];
}
@@ -1154,6 +1169,17 @@
const curTime = (new Date()).getTime();
const frameRate = 1000.0 / (curTime - this.lastTimeMs);
this.lastTimeMs = curTime;
+ const parentWidth = this.textCanvas.parentElement.offsetWidth;
+ const parentHeight = this.textCanvas.parentElement.offsetHeight;
+ this.textCanvas.width = parentWidth;
+ this.textCanvas.height = parentHeight;
+ this.canvas.width =
+ parentWidth - this.axisLabelBuffer.left - this.axisLabelBuffer.right;
+ this.canvas.height =
+ parentHeight - this.axisLabelBuffer.top - this.axisLabelBuffer.bottom;
+ this.lineDrawerContext.viewport(
+ 0, 0, this.lineDrawerContext.drawingBufferWidth,
+ this.lineDrawerContext.drawingBufferHeight);
// Clear the overlay.
const textCtx = this.textCanvas.getContext("2d");
diff --git a/aos/starter/starter_rpc_lib.cc b/aos/starter/starter_rpc_lib.cc
index b0b9db3..3007326 100644
--- a/aos/starter/starter_rpc_lib.cc
+++ b/aos/starter/starter_rpc_lib.cc
@@ -3,6 +3,7 @@
#include "aos/events/shm_event_loop.h"
#include "aos/flatbuffer_merge.h"
#include "aos/starter/starterd_lib.h"
+#include "glog/logging.h"
namespace aos {
namespace starter {
@@ -163,7 +164,7 @@
if (is_multi_node) {
command_builder.add_nodes(nodes_offset);
}
- CHECK(builder.Send(command_builder.Finish()));
+ builder.CheckOk(builder.Send(command_builder.Finish()));
}
timeout_timer_->Setup(event_loop_->monotonic_now() + timeout);
diff --git a/aos/starter/starterd_lib.cc b/aos/starter/starterd_lib.cc
index bc83768..7bf2e0d 100644
--- a/aos/starter/starterd_lib.cc
+++ b/aos/starter/starterd_lib.cc
@@ -602,7 +602,7 @@
aos::starter::Status::Builder status_builder(*builder.fbb());
status_builder.add_statuses(statuses_fbs);
- CHECK(builder.Send(status_builder.Finish()));
+ builder.CheckOk(builder.Send(status_builder.Finish()));
}
} // namespace starter
diff --git a/aos/time/time.cc b/aos/time/time.cc
index 882f925..a956f94 100644
--- a/aos/time/time.cc
+++ b/aos/time/time.cc
@@ -132,6 +132,9 @@
struct tm tm;
std::istringstream ss(std::string(now.substr(0, now.size() - 10)));
ss >> std::get_time(&tm, "%Y-%m-%d_%H-%M-%S");
+ if (ss.fail()) {
+ return std::nullopt;
+ }
tm.tm_isdst = -1;
time_t seconds = mktime(&tm);
diff --git a/aos/util/BUILD b/aos/util/BUILD
index 59dec18..daacba1 100644
--- a/aos/util/BUILD
+++ b/aos/util/BUILD
@@ -246,6 +246,7 @@
"//aos/scoped:scoped_fd",
"@com_github_google_glog//:glog",
"@com_google_absl//absl/strings",
+ "@com_google_absl//absl/types:span",
],
)
diff --git a/aos/util/file.cc b/aos/util/file.cc
index a11e330..317206e 100644
--- a/aos/util/file.cc
+++ b/aos/util/file.cc
@@ -2,11 +2,15 @@
#include <fcntl.h>
#include <fts.h>
+#include <sys/mman.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <unistd.h>
#include <string_view>
+#if __has_feature(memory_sanitizer)
+#include <sanitizer/msan_interface.h>
+#endif
#include "aos/scoped/scoped_fd.h"
@@ -101,6 +105,15 @@
}
while ((curr = fts_read(ftsp))) {
+#if __has_feature(memory_sanitizer)
+ // fts_read doesn't have propper msan interceptors. Unpoison it ourselves.
+ if (curr) {
+ __msan_unpoison(curr, sizeof(*curr));
+ __msan_unpoison_string(curr->fts_accpath);
+ __msan_unpoison_string(curr->fts_path);
+ __msan_unpoison_string(curr->fts_name);
+ }
+#endif
switch (curr->fts_info) {
case FTS_NS:
case FTS_DNR:
@@ -139,5 +152,30 @@
}
}
+std::shared_ptr<absl::Span<uint8_t>> MMapFile(const std::string &path,
+ FileOptions options) {
+ int fd =
+ open(path.c_str(), options == FileOptions::kReadable ? O_RDONLY : O_RDWR);
+ PCHECK(fd != -1) << "Unable to open file " << path;
+ struct stat sb;
+ PCHECK(fstat(fd, &sb) != -1) << ": Unable to get file size of " << path;
+ uint8_t *start = reinterpret_cast<uint8_t *>(mmap(
+ NULL, sb.st_size,
+ options == FileOptions::kReadable ? PROT_READ : (PROT_READ | PROT_WRITE),
+ MAP_SHARED, fd, 0));
+ CHECK(start != MAP_FAILED) << ": Unable to open mapping to file " << path;
+ std::shared_ptr<absl::Span<uint8_t>> span =
+ std::shared_ptr<absl::Span<uint8_t>>(
+ new absl::Span<uint8_t>(start, sb.st_size),
+ [](absl::Span<uint8_t> *span) {
+ PCHECK(msync(span->data(), span->size(), MS_SYNC) == 0)
+ << ": Failed to flush data before unmapping.";
+ PCHECK(munmap(span->data(), span->size()) != -1);
+ delete span;
+ });
+ close(fd);
+ return span;
+}
+
} // namespace util
} // namespace aos
diff --git a/aos/util/file.h b/aos/util/file.h
index 8089225..2d37ec2 100644
--- a/aos/util/file.h
+++ b/aos/util/file.h
@@ -2,9 +2,12 @@
#define AOS_UTIL_FILE_H_
#include <sys/stat.h>
+
+#include <memory>
#include <string>
#include <string_view>
+#include "absl/types/span.h"
#include "glog/logging.h"
namespace aos {
@@ -32,6 +35,12 @@
// runs across.
void UnlinkRecursive(std::string_view path);
+enum class FileOptions { kReadable, kWriteable };
+
+// Maps file from disk into memory
+std::shared_ptr<absl::Span<uint8_t>> MMapFile(
+ const std::string &path, FileOptions options = FileOptions::kReadable);
+
} // namespace util
} // namespace aos
diff --git a/build_tests/BUILD b/build_tests/BUILD
index 0766256..6563297 100644
--- a/build_tests/BUILD
+++ b/build_tests/BUILD
@@ -1,5 +1,6 @@
load("@com_google_protobuf//:protobuf.bzl", "cc_proto_library")
load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_py_library")
+load("@io_bazel_rules_go//go:def.bzl", "go_binary")
cc_test(
name = "gflags_build_test",
@@ -85,8 +86,6 @@
name = "python3_opencv",
srcs = ["python_opencv.py"],
main = "python_opencv.py",
- python_version = "PY3",
- srcs_version = "PY2AND3",
target_compatible_with = ["@platforms//os:linux"],
deps = ["@opencv_contrib_nonfree_amd64//:python_opencv"],
)
@@ -98,3 +97,9 @@
target_compatible_with = ["@platforms//os:linux"],
deps = ["@python_jinja2"],
)
+
+go_binary(
+ name = "hello_go",
+ srcs = ["hello.go"],
+ target_compatible_with = ["@platforms//cpu:x86_64"],
+)
diff --git a/build_tests/hello.go b/build_tests/hello.go
new file mode 100644
index 0000000..4cc584b
--- /dev/null
+++ b/build_tests/hello.go
@@ -0,0 +1,7 @@
+package main
+
+import "fmt"
+
+func main() {
+ fmt.Println("Hello world")
+}
diff --git a/debian/BUILD b/debian/BUILD
index 348163e..0ea9836 100644
--- a/debian/BUILD
+++ b/debian/BUILD
@@ -116,8 +116,6 @@
"download_packages.py",
],
main = "download_packages.py",
- python_version = "PY3",
- srcs_version = "PY2AND3",
target_compatible_with = ["@platforms//os:linux"],
)
diff --git a/debian/opencv_python.BUILD b/debian/opencv_python.BUILD
index 5afa180..5074bd3 100644
--- a/debian/opencv_python.BUILD
+++ b/debian/opencv_python.BUILD
@@ -5,6 +5,9 @@
include = ["**/*"],
exclude = ["**/*.py"],
),
+ deps = [
+ "@python_repo//:numpy",
+ ],
imports = ["."],
visibility = ["//visibility:public"],
)
diff --git a/debian/python.BUILD b/debian/python.BUILD
index 17543df..009a7e2 100644
--- a/debian/python.BUILD
+++ b/debian/python.BUILD
@@ -55,11 +55,45 @@
visibility = ["//visibility:public"],
)
-filegroup(
+py_library(
name = "scipy",
srcs = glob([
- "usr/lib/python3/dist-packages/numpy",
- "usr/lib/python3/dist-packages/scipy",
+ "usr/lib/python3/dist-packages/scipy/**/*.py",
+ ]),
+ data = glob([
+ "usr/lib/python3/dist-packages/scipy/**/*",
+ ], exclude = [
+ "usr/lib/python3/dist-packages/scipy/**/*.py",
+ ]),
+ deps = [
+ ":numpy",
+ ],
+ visibility = ["//visibility:public"],
+ imports = [
+ "usr/lib/python3/dist-packages",
+ ],
+ target_compatible_with = [
+ "@platforms//os:linux",
+ "@platforms//cpu:x86_64",
+ ],
+)
+
+py_library(
+ name = "numpy",
+ srcs = glob([
+ "usr/lib/python3/dist-packages/numpy/**/*.py",
+ ]),
+ data = glob([
+ "usr/lib/python3/dist-packages/numpy/**/*",
+ ], exclude = [
+ "usr/lib/python3/dist-packages/numpy/**/*.py",
]),
visibility = ["//visibility:public"],
+ imports = [
+ "usr/lib/python3/dist-packages",
+ ],
+ target_compatible_with = [
+ "@platforms//os:linux",
+ "@platforms//cpu:x86_64",
+ ],
)
diff --git a/frc971/analysis/BUILD b/frc971/analysis/BUILD
index 5457405..4850f97 100644
--- a/frc971/analysis/BUILD
+++ b/frc971/analysis/BUILD
@@ -52,6 +52,7 @@
"//y2020/control_loops/superstructure:finisher_plotter",
"//y2020/control_loops/superstructure:hood_plotter",
"//y2020/control_loops/superstructure:turret_plotter",
+ "//y2021_bot3/control_loops/superstructure:superstructure_plotter",
],
)
diff --git a/frc971/analysis/in_process_plotter.cc b/frc971/analysis/in_process_plotter.cc
index e82cb2f..0eaf719 100644
--- a/frc971/analysis/in_process_plotter.cc
+++ b/frc971/analysis/in_process_plotter.cc
@@ -25,6 +25,9 @@
color_wheel_.push_back(Color(1, 1, 0));
color_wheel_.push_back(Color(0, 1, 1));
color_wheel_.push_back(Color(1, 0, 1));
+ color_wheel_.push_back(Color(1, 0.6, 0));
+ color_wheel_.push_back(Color(0.6, 0.3, 0));
+ color_wheel_.push_back(Color(1, 1, 1));
}
void Plotter::Spin() { event_loop_factory_.Run(); }
@@ -74,8 +77,8 @@
for (size_t ii = 0; ii < x.size(); ++ii) {
points.emplace_back(x[ii], y[ii]);
}
- const flatbuffers::Offset<flatbuffers::Vector<const Point*>>
- points_offset = builder_.fbb()->CreateVectorOfStructs(points);
+ const flatbuffers::Offset<flatbuffers::Vector<const Point *>> points_offset =
+ builder_.fbb()->CreateVectorOfStructs(points);
const Color *color = &color_wheel_.at(color_wheel_position_);
color_wheel_position_ = (color_wheel_position_ + 1) % color_wheel_.size();
@@ -118,7 +121,8 @@
plot_builder.add_title(title_);
plot_builder.add_figures(figures_offset);
- builder_.Send(plot_builder.Finish());
+ CHECK_EQ(builder_.Send(plot_builder.Finish()),
+ aos::RawSender::Error::kOk);
builder_ = plot_sender_.MakeBuilder();
diff --git a/frc971/analysis/plot_data_utils.ts b/frc971/analysis/plot_data_utils.ts
index def34ed..5d1f4a0 100644
--- a/frc971/analysis/plot_data_utils.ts
+++ b/frc971/analysis/plot_data_utils.ts
@@ -29,9 +29,6 @@
plotSelect.add(new Option('Select Plot', invalidSelectValue));
const plotDiv = document.createElement('div');
- plotDiv.style.position = 'absolute';
- plotDiv.style.top = '30';
- plotDiv.style.left = '0';
parentDiv.appendChild(plotDiv);
conn.addReliableHandler(
@@ -50,12 +47,11 @@
for (let ii = 0; ii < plotFb.figuresLength(); ++ii) {
const figure = plotFb.figures(ii);
const figureDiv = document.createElement('div');
- figureDiv.style.top = figure.position().top().toString();
- figureDiv.style.left = figure.position().left().toString();
- figureDiv.style.position = 'absolute';
+ figureDiv.style.width = figure.position().width().toString() + "px";
+ figureDiv.style.height = figure.position().height().toString() + "px";
+ figureDiv.style.position = 'relative';
div.appendChild(figureDiv);
- const plot = new Plot(
- figureDiv, figure.position().width(), figure.position().height());
+ const plot = new Plot(figureDiv);
if (figure.title()) {
plot.getAxisLabels().setTitle(figure.title());
diff --git a/frc971/analysis/plot_index.ts b/frc971/analysis/plot_index.ts
index 7b46a70..2df65f6 100644
--- a/frc971/analysis/plot_index.ts
+++ b/frc971/analysis/plot_index.ts
@@ -38,6 +38,8 @@
'org_frc971/y2020/control_loops/superstructure/accelerator_plotter'
import {plotHood} from
'org_frc971/y2020/control_loops/superstructure/hood_plotter'
+import {plotSuperstructure} from
+ 'org_frc971/y2021_bot3/control_loops/superstructure/superstructure_plotter';
import {plotDemo} from 'org_frc971/aos/network/www/demo_plot';
import {plotData} from 'org_frc971/frc971/analysis/plot_data_utils';
@@ -104,6 +106,7 @@
['Turret', new PlotState(plotDiv, plotTurret)],
['2020 Localizer', new PlotState(plotDiv, plotLocalizer)],
['C++ Plotter', new PlotState(plotDiv, plotData)],
+ ['Y2021 3rd Robot Superstructure', new PlotState(plotDiv, plotSuperstructure)],
]);
const invalidSelectValue = 'null';
@@ -151,4 +154,4 @@
plotSelect.value = getDefaultPlot();
// Force the event to occur once at the start.
plotSelect.dispatchEvent(new Event('input'));
-});
+});
\ No newline at end of file
diff --git a/frc971/autonomous/base_autonomous_actor.cc b/frc971/autonomous/base_autonomous_actor.cc
index ab31e52..eca86b9 100644
--- a/frc971/autonomous/base_autonomous_actor.cc
+++ b/frc971/autonomous/base_autonomous_actor.cc
@@ -53,7 +53,7 @@
goal_builder.add_highgear(true);
goal_builder.add_wheel(0.0);
goal_builder.add_throttle(throttle);
- builder.Send(goal_builder.Finish());
+ builder.CheckOk(builder.Send(goal_builder.Finish()));
}
void BaseAutonomousActor::ResetDrivetrain() {
@@ -72,7 +72,7 @@
goal_builder.add_left_goal(initial_drivetrain_.left);
goal_builder.add_right_goal(initial_drivetrain_.right);
goal_builder.add_max_ss_voltage(max_drivetrain_voltage_);
- builder.Send(goal_builder.Finish());
+ builder.CheckOk(builder.Send(goal_builder.Finish()));
}
void BaseAutonomousActor::InitializeEncoders() {
@@ -113,7 +113,7 @@
goal_builder.add_linear(linear_offset);
goal_builder.add_angular(angular_offset);
- builder.Send(goal_builder.Finish());
+ builder.CheckOk(builder.Send(goal_builder.Finish()));
}
void BaseAutonomousActor::WaitUntilDoneOrCanceled(
@@ -123,9 +123,9 @@
return;
}
- ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::aos::time::PhasedLoop phased_loop(frc971::controls::kLoopFrequency,
event_loop()->monotonic_now(),
- ::std::chrono::milliseconds(5) / 2);
+ ActorBase::kLoopOffset);
while (true) {
// Poll the running bit and see if we should cancel.
phased_loop.SleepUntilNext();
@@ -136,9 +136,9 @@
}
bool BaseAutonomousActor::WaitForDriveDone() {
- ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::aos::time::PhasedLoop phased_loop(frc971::controls::kLoopFrequency,
event_loop()->monotonic_now(),
- ::std::chrono::milliseconds(5) / 2);
+ ActorBase::kLoopOffset);
while (true) {
if (ShouldCancel()) {
@@ -178,9 +178,9 @@
}
bool BaseAutonomousActor::WaitForAboveAngle(double angle) {
- ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::aos::time::PhasedLoop phased_loop(frc971::controls::kLoopFrequency,
event_loop()->monotonic_now(),
- ::std::chrono::milliseconds(5) / 2);
+ ActorBase::kLoopOffset);
while (true) {
if (ShouldCancel()) {
return false;
@@ -199,9 +199,9 @@
}
bool BaseAutonomousActor::WaitForBelowAngle(double angle) {
- ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::aos::time::PhasedLoop phased_loop(frc971::controls::kLoopFrequency,
event_loop()->monotonic_now(),
- ::std::chrono::milliseconds(5) / 2);
+ ActorBase::kLoopOffset);
while (true) {
if (ShouldCancel()) {
return false;
@@ -220,9 +220,9 @@
}
bool BaseAutonomousActor::WaitForMaxBy(double angle) {
- ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::aos::time::PhasedLoop phased_loop(frc971::controls::kLoopFrequency,
event_loop()->monotonic_now(),
- ::std::chrono::milliseconds(5) / 2);
+ ActorBase::kLoopOffset);
double max_angle = -M_PI;
while (true) {
if (ShouldCancel()) {
@@ -245,9 +245,9 @@
}
bool BaseAutonomousActor::WaitForDriveNear(double distance, double angle) {
- ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::aos::time::PhasedLoop phased_loop(frc971::controls::kLoopFrequency,
event_loop()->monotonic_now(),
- ::std::chrono::milliseconds(5) / 2);
+ ActorBase::kLoopOffset);
constexpr double kPositionTolerance = 0.02;
constexpr double kProfileTolerance = 0.001;
@@ -314,9 +314,9 @@
}
bool BaseAutonomousActor::WaitForDriveProfileNear(double tolerance) {
- ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::aos::time::PhasedLoop phased_loop(frc971::controls::kLoopFrequency,
event_loop()->monotonic_now(),
- ::std::chrono::milliseconds(5) / 2);
+ ActorBase::kLoopOffset);
while (true) {
if (ShouldCancel()) {
return false;
@@ -351,9 +351,9 @@
}
bool BaseAutonomousActor::WaitForTurnProfileNear(double tolerance) {
- ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::aos::time::PhasedLoop phased_loop(frc971::controls::kLoopFrequency,
event_loop()->monotonic_now(),
- ::std::chrono::milliseconds(5) / 2);
+ ActorBase::kLoopOffset);
while (true) {
if (ShouldCancel()) {
return false;
@@ -427,9 +427,9 @@
bool BaseAutonomousActor::SplineHandle::WaitForSplineDistanceRemaining(
double distance) {
::aos::time::PhasedLoop phased_loop(
- ::std::chrono::milliseconds(5),
+ frc971::controls::kLoopFrequency,
base_autonomous_actor_->event_loop()->monotonic_now(),
- ::std::chrono::milliseconds(5) / 2);
+ ActorBase::kLoopOffset);
while (true) {
if (base_autonomous_actor_->ShouldCancel()) {
return false;
@@ -453,7 +453,7 @@
// line_follow_drivetrain.cc, but it is somewhat year-specific, so we should
// factor it out in some way.
goal_builder.add_throttle(velocity / 4.0);
- builder.Send(goal_builder.Finish());
+ builder.CheckOk(builder.Send(goal_builder.Finish()));
}
{
@@ -463,7 +463,7 @@
::y2019::control_loops::drivetrain::TargetSelectorHint>();
target_hint_builder.add_suggested_target(hint);
- builder.Send(target_hint_builder.Finish());
+ builder.CheckOk(builder.Send(target_hint_builder.Finish()));
}
}
@@ -512,7 +512,7 @@
}
}
- builder.Send(spline_builder.Finish());
+ builder.CheckOk(builder.Send(spline_builder.Finish()));
return BaseAutonomousActor::SplineHandle(spline_handle, this, start);
}
@@ -541,9 +541,9 @@
bool BaseAutonomousActor::SplineHandle::WaitForPlan() {
::aos::time::PhasedLoop phased_loop(
- ::std::chrono::milliseconds(5),
+ frc971::controls::kLoopFrequency,
base_autonomous_actor_->event_loop()->monotonic_now(),
- ::std::chrono::milliseconds(5) / 2);
+ ActorBase::kLoopOffset);
while (true) {
if (base_autonomous_actor_->ShouldCancel()) {
return false;
@@ -566,7 +566,7 @@
goal_builder.add_spline_handle(spline_handle_);
base_autonomous_actor_->goal_spline_handle_ = spline_handle_;
- builder.Send(goal_builder.Finish());
+ builder.CheckOk(builder.Send(goal_builder.Finish()));
}
bool BaseAutonomousActor::SplineHandle::IsDone() {
@@ -591,9 +591,9 @@
bool BaseAutonomousActor::SplineHandle::WaitForDone() {
::aos::time::PhasedLoop phased_loop(
- ::std::chrono::milliseconds(5),
+ frc971::controls::kLoopFrequency,
base_autonomous_actor_->event_loop()->monotonic_now(),
- ::std::chrono::milliseconds(5) / 2);
+ ActorBase::kLoopOffset);
while (true) {
if (base_autonomous_actor_->ShouldCancel()) {
return false;
diff --git a/frc971/codelab/basic.cc b/frc971/codelab/basic.cc
index 0393508..325db73 100644
--- a/frc971/codelab/basic.cc
+++ b/frc971/codelab/basic.cc
@@ -29,7 +29,8 @@
// tests pass.
builder.add_intake_voltage(0.0);
- output->Send(builder.Finish());
+ // Ignore the return value of Send
+ (void)output->Send(builder.Finish());
}
if (status) {
@@ -40,7 +41,8 @@
// Look at the definition of Status in basic_status.fbs to find
// the name of the field.
- status->Send(builder.Finish());
+ // Ignore the return value of Send
+ (void)status->Send(builder.Finish());
}
}
diff --git a/frc971/codelab/basic_test.cc b/frc971/codelab/basic_test.cc
index 46226be..dc80988 100644
--- a/frc971/codelab/basic_test.cc
+++ b/frc971/codelab/basic_test.cc
@@ -53,7 +53,8 @@
position_builder.add_limit_sensor(limit_sensor_);
- builder.Send(position_builder.Finish());
+ EXPECT_EQ(builder.Send(position_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
// This is a helper function that is used in the tests to check
@@ -122,7 +123,8 @@
auto builder = goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_intake(true);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
basic_simulation_.set_limit_sensor(false);
@@ -135,7 +137,8 @@
auto builder = goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_intake(true);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
basic_simulation_.set_limit_sensor(true);
@@ -151,7 +154,8 @@
auto builder = goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_intake(true);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
basic_simulation_.set_limit_sensor(false);
@@ -167,7 +171,8 @@
auto builder = goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_intake(false);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
basic_simulation_.set_limit_sensor(false);
@@ -183,7 +188,8 @@
auto builder = goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_intake(true);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
basic_simulation_.set_limit_sensor(true);
@@ -198,7 +204,8 @@
auto builder = goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_intake(false);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
basic_simulation_.set_limit_sensor(true);
@@ -227,7 +234,8 @@
auto builder = goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_intake(true);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
SetEnabled(false);
diff --git a/frc971/control_loops/control_loop-tmpl.h b/frc971/control_loops/control_loop-tmpl.h
index 0db1786..7e20227 100644
--- a/frc971/control_loops/control_loop-tmpl.h
+++ b/frc971/control_loops/control_loop-tmpl.h
@@ -23,7 +23,7 @@
OutputType>::ZeroOutputs() {
typename ::aos::Sender<OutputType>::Builder builder =
output_sender_.MakeBuilder();
- builder.Send(Zero(&builder));
+ builder.CheckOk(builder.Send(Zero(&builder)));
}
template <class GoalType, class PositionType, class StatusType,
diff --git a/frc971/control_loops/control_loop_test.h b/frc971/control_loops/control_loop_test.h
index de9d4cd..a820215 100644
--- a/frc971/control_loops/control_loop_test.h
+++ b/frc971/control_loops/control_loop_test.h
@@ -11,6 +11,7 @@
#include "aos/time/time.h"
#include "frc971/input/joystick_state_generated.h"
#include "frc971/input/robot_state_generated.h"
+#include "glog/logging.h"
#include "gtest/gtest.h"
namespace frc971 {
@@ -123,7 +124,8 @@
builder.add_autonomous(false);
builder.add_team_id(team_id_);
- new_state.Send(builder.Finish());
+ CHECK_EQ(new_state.Send(builder.Finish()),
+ aos::RawSender::Error::kOk);
last_ds_time_ = monotonic_now();
last_enabled_ = enabled_;
@@ -150,7 +152,7 @@
builder.add_voltage_roborio_in(battery_voltage_);
builder.add_voltage_battery(battery_voltage_);
- new_state.Send(builder.Finish());
+ new_state.CheckOk(new_state.Send(builder.Finish()));
}
static constexpr ::std::chrono::microseconds kTimeTick{5000};
diff --git a/frc971/control_loops/drivetrain/down_estimator_plotter.ts b/frc971/control_loops/drivetrain/down_estimator_plotter.ts
index c6e414c..7f5bd58 100644
--- a/frc971/control_loops/drivetrain/down_estimator_plotter.ts
+++ b/frc971/control_loops/drivetrain/down_estimator_plotter.ts
@@ -18,7 +18,7 @@
'/drivetrain', 'frc971.IMUValuesBatch',
new ImuMessageHandler(conn.getSchema('frc971.IMUValuesBatch')));
- const accelPlot = aosPlotter.addPlot(element, [0, 0], [width, height]);
+ const accelPlot = aosPlotter.addPlot(element, [width, height]);
accelPlot.plot.getAxisLabels().setTitle(
'Estimated Accelerations (x = forward, y = lateral, z = vertical)');
accelPlot.plot.getAxisLabels().setYLabel('Acceleration (m/s/s)');
@@ -31,7 +31,7 @@
const accelZ = accelPlot.addMessageLine(status, ['down_estimator', 'accel_z']);
accelZ.setColor(BLUE);
- const velPlot = aosPlotter.addPlot(element, [0, height], [width, height]);
+ const velPlot = aosPlotter.addPlot(element, [width, height]);
velPlot.plot.getAxisLabels().setTitle('Raw IMU Integrated Velocity');
velPlot.plot.getAxisLabels().setYLabel('Velocity (m/s)');
velPlot.plot.getAxisLabels().setXLabel('Monotonic Reading Time (sec)');
@@ -43,7 +43,7 @@
const velZ = velPlot.addMessageLine(status, ['down_estimator', 'velocity_z']);
velZ.setColor(BLUE);
- const gravityPlot = aosPlotter.addPlot(element, [0, height * 2], [width, height]);
+ const gravityPlot = aosPlotter.addPlot(element, [width, height]);
gravityPlot.plot.getAxisLabels().setTitle('Accelerometer Magnitudes');
gravityPlot.plot.getAxisLabels().setXLabel('Monotonic Sent Time (sec)');
gravityPlot.plot.setDefaultYRange([0.95, 1.05]);
@@ -58,7 +58,7 @@
accelMagnitudeLine.setDrawLine(false);
const orientationPlot =
- aosPlotter.addPlot(element, [0, height * 3], [width, height]);
+ aosPlotter.addPlot(element, [width, height]);
orientationPlot.plot.getAxisLabels().setTitle('Orientation');
orientationPlot.plot.getAxisLabels().setYLabel('Angle (rad)');
@@ -75,7 +75,7 @@
yaw.setColor(BLUE);
yaw.setLabel('yaw');
- const imuAccelPlot = aosPlotter.addPlot(element, [0, height * 4], [width, height]);
+ const imuAccelPlot = aosPlotter.addPlot(element, [width, height]);
imuAccelPlot.plot.getAxisLabels().setTitle('Filtered Accelerometer Readings');
imuAccelPlot.plot.getAxisLabels().setYLabel('Acceleration (g)');
imuAccelPlot.plot.getAxisLabels().setXLabel('Monotonic Reading Time (sec)');
@@ -113,7 +113,7 @@
expectedAccelZ.setColor(BLUE);
expectedAccelZ.setPointSize(0);
- const gyroPlot = aosPlotter.addPlot(element, [0, height * 5], [width, height]);
+ const gyroPlot = aosPlotter.addPlot(element, [width, height]);
gyroPlot.plot.getAxisLabels().setTitle('Gyro Readings');
gyroPlot.plot.getAxisLabels().setYLabel('Angular Velocity (rad / sec)');
gyroPlot.plot.getAxisLabels().setXLabel('Monotonic Reading Time (sec)');
@@ -141,7 +141,7 @@
const gyroZ = gyroPlot.addMessageLine(imu, ['gyro_z']);
gyroZ.setColor(BLUE);
- const statePlot = aosPlotter.addPlot(element, [0, height * 6], [width, height / 2]);
+ const statePlot = aosPlotter.addPlot(element, [width, height / 2]);
statePlot.plot.getAxisLabels().setTitle('IMU State');
statePlot.plot.getAxisLabels().setXLabel('Monotonic Sent Time (sec)');
diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index 928d418..62b77c4 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -526,7 +526,10 @@
builder.add_down_estimator(down_estimator_state_offset);
builder.add_localizer(localizer_offset);
builder.add_zeroing(zeroer_offset);
- status->Send(builder.Finish());
+
+ builder.add_send_failures(status_failure_counter_.failures());
+
+ status_failure_counter_.Count(status->Send(builder.Finish()));
}
// If the filters aren't ready/valid, then disable all outputs (currently,
@@ -568,7 +571,7 @@
}
if (output) {
- output->Send(Output::Pack(*output->fbb(), &output_struct));
+ output->CheckOk(output->Send(Output::Pack(*output->fbb(), &output_struct)));
}
}
diff --git a/frc971/control_loops/drivetrain/drivetrain.h b/frc971/control_loops/drivetrain/drivetrain.h
index efaf53d..52ae605 100644
--- a/frc971/control_loops/drivetrain/drivetrain.h
+++ b/frc971/control_loops/drivetrain/drivetrain.h
@@ -2,9 +2,8 @@
#define FRC971_CONTROL_LOOPS_DRIVETRAIN_H_
#include "Eigen/Dense"
-#include "frc971/control_loops/control_loop.h"
-#include "frc971/control_loops/polytope.h"
#include "aos/util/log_interval.h"
+#include "frc971/control_loops/control_loop.h"
#include "frc971/control_loops/control_loops_generated.h"
#include "frc971/control_loops/drivetrain/drivetrain_config.h"
#include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
@@ -20,6 +19,7 @@
#include "frc971/control_loops/drivetrain/polydrivetrain.h"
#include "frc971/control_loops/drivetrain/splinedrivetrain.h"
#include "frc971/control_loops/drivetrain/ssdrivetrain.h"
+#include "frc971/control_loops/polytope.h"
#include "frc971/queues/gyro_generated.h"
#include "frc971/wpilib/imu_batch_generated.h"
#include "frc971/zeroing/imu_zeroer.h"
@@ -185,6 +185,8 @@
LineFollowDrivetrain dt_line_follow_;
bool has_been_enabled_ = false;
+
+ aos::SendFailureCounter status_failure_counter_;
};
} // namespace drivetrain
diff --git a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
index d658e21..3ad4776 100644
--- a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
+++ b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
@@ -183,7 +183,8 @@
goal_builder.add_controller_type(ControllerType::MOTION_PROFILE);
goal_builder.add_left_goal(-1.0);
goal_builder.add_right_goal(1.0);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(2));
VerifyNearGoal();
@@ -199,7 +200,8 @@
goal_builder.add_controller_type(ControllerType::MOTION_PROFILE);
goal_builder.add_left_goal(-1.0);
goal_builder.add_right_goal(1.0);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
// Sanity check that the drivetrain is indeed commanding voltage while the IMU
@@ -235,7 +237,8 @@
goal_builder.add_controller_type(ControllerType::MOTION_PROFILE);
goal_builder.add_left_goal(-1.0);
goal_builder.add_right_goal(1.0);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
drivetrain_plant_.set_left_voltage_offset(1.0);
drivetrain_plant_.set_right_voltage_offset(1.0);
@@ -251,7 +254,8 @@
goal_builder.add_controller_type(ControllerType::MOTION_PROFILE);
goal_builder.add_left_goal(-1.0);
goal_builder.add_right_goal(1.0);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
for (int i = 0; i < 500; ++i) {
if (i > 20 && i < 200) {
@@ -281,7 +285,8 @@
goal_builder.add_controller_type(ControllerType::MOTION_PROFILE);
goal_builder.add_left_goal(4.0);
goal_builder.add_right_goal(4.0);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
for (int i = 0; i < 500; ++i) {
@@ -305,7 +310,8 @@
goal_builder.add_controller_type(ControllerType::MOTION_PROFILE);
goal_builder.add_left_goal(4.0);
goal_builder.add_right_goal(3.9);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
for (int i = 0; i < 500; ++i) {
RunFor(dt());
@@ -366,7 +372,8 @@
goal_builder.add_right_goal(4.0);
goal_builder.add_linear(linear_offset);
goal_builder.add_angular(angular_offset);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
const auto start_time = monotonic_now();
@@ -408,7 +415,8 @@
goal_builder.add_right_goal(1.0);
goal_builder.add_linear(linear_offset);
goal_builder.add_angular(angular_offset);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
const auto start_time = monotonic_now();
@@ -450,7 +458,8 @@
goal_builder.add_right_goal(4.0);
goal_builder.add_linear(linear_offset);
goal_builder.add_angular(angular_offset);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
const auto start_time = monotonic_now();
@@ -473,7 +482,8 @@
goal_builder.add_throttle(1.0);
goal_builder.add_highgear(true);
goal_builder.add_quickturn(false);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(1));
@@ -486,7 +496,8 @@
goal_builder.add_throttle(-0.3);
goal_builder.add_highgear(true);
goal_builder.add_quickturn(false);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(1));
@@ -499,7 +510,8 @@
goal_builder.add_throttle(0.0);
goal_builder.add_highgear(true);
goal_builder.add_quickturn(false);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -526,7 +538,8 @@
goal_builder.add_right_goal(4.0);
goal_builder.add_linear(linear_offset);
goal_builder.add_angular(angular_offset);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
const auto end_time = monotonic_now() + chrono::seconds(4);
@@ -566,7 +579,8 @@
spline_goal_builder.add_spline_idx(1);
spline_goal_builder.add_drive_spline_backwards(false);
spline_goal_builder.add_spline(multispline_offset);
- EXPECT_TRUE(builder.Send(spline_goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(spline_goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(dt());
@@ -576,7 +590,8 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(1);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(2000));
@@ -611,7 +626,8 @@
spline_goal_builder.add_drive_spline_backwards(true);
spline_goal_builder.add_spline(multispline_offset);
- EXPECT_TRUE(builder.Send(spline_goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(spline_goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(dt());
@@ -620,7 +636,8 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(1);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
// Check that we are right on the spline at the start (otherwise the feedback
@@ -669,7 +686,8 @@
spline_goal_builder.add_spline_idx(1);
spline_goal_builder.add_drive_spline_backwards(false);
spline_goal_builder.add_spline(multispline_offset);
- EXPECT_TRUE(builder.Send(spline_goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(spline_goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
{
@@ -677,7 +695,8 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(1);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(2000));
@@ -709,14 +728,16 @@
spline_goal_builder.add_spline_idx(1);
spline_goal_builder.add_drive_spline_backwards(false);
spline_goal_builder.add_spline(multispline_offset);
- ASSERT_TRUE(builder.Send(spline_goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(spline_goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
{
auto builder = drivetrain_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(1);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(500));
@@ -728,7 +749,8 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(0);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
for (int i = 0; i < 100; ++i) {
RunFor(dt());
@@ -769,7 +791,8 @@
spline_goal_builder.add_spline_idx(1);
spline_goal_builder.add_drive_spline_backwards(false);
spline_goal_builder.add_spline(multispline_offset);
- ASSERT_TRUE(builder.Send(spline_goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(spline_goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
{
auto builder = drivetrain_goal_sender_.MakeBuilder();
@@ -777,7 +800,8 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(1);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(500));
@@ -789,7 +813,8 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(0);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(500));
@@ -799,7 +824,8 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(1);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(2000));
@@ -828,7 +854,8 @@
localizer_control_builder.add_x(drivetrain_plant_.state()(0));
localizer_control_builder.add_y(drivetrain_plant_.state()(1));
localizer_control_builder.add_theta(drivetrain_plant_.state()(2));
- ASSERT_TRUE(builder.Send(localizer_control_builder.Finish()));
+ ASSERT_EQ(builder.Send(localizer_control_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
{
auto builder = trajectory_goal_sender_.MakeBuilder();
@@ -852,7 +879,8 @@
spline_goal_builder.add_spline_idx(1);
spline_goal_builder.add_drive_spline_backwards(GetParam());
spline_goal_builder.add_spline(multispline_offset);
- ASSERT_TRUE(builder.Send(spline_goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(spline_goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(dt());
@@ -861,7 +889,8 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(1);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(5000));
@@ -898,7 +927,8 @@
spline_goal_builder.add_spline_idx(1);
spline_goal_builder.add_drive_spline_backwards(false);
spline_goal_builder.add_spline(multispline_offset);
- ASSERT_TRUE(builder.Send(spline_goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(spline_goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(dt());
@@ -907,7 +937,8 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(1);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(5000));
@@ -947,7 +978,8 @@
spline_goal_builder.add_spline_idx(1);
spline_goal_builder.add_drive_spline_backwards(false);
spline_goal_builder.add_spline(multispline_offset);
- ASSERT_TRUE(builder.Send(spline_goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(spline_goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(dt());
@@ -956,7 +988,8 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(1);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(5000));
@@ -1006,7 +1039,8 @@
spline_goal_builder.add_spline_idx(1);
spline_goal_builder.add_drive_spline_backwards(false);
spline_goal_builder.add_spline(multispline_offset);
- ASSERT_TRUE(builder.Send(spline_goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(spline_goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(dt());
@@ -1015,7 +1049,8 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(1);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(4000));
@@ -1047,7 +1082,8 @@
spline_goal_builder.add_spline_idx(1);
spline_goal_builder.add_drive_spline_backwards(false);
spline_goal_builder.add_spline(multispline_offset);
- ASSERT_TRUE(builder.Send(spline_goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(spline_goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(dt());
@@ -1056,7 +1092,8 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(1);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
WaitForTrajectoryExecution();
@@ -1086,7 +1123,8 @@
spline_goal_builder.add_spline_idx(2);
spline_goal_builder.add_drive_spline_backwards(false);
spline_goal_builder.add_spline(multispline_offset);
- ASSERT_TRUE(builder.Send(spline_goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(spline_goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(dt());
@@ -1096,7 +1134,8 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(2);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(2000));
@@ -1128,14 +1167,16 @@
spline_goal_builder.add_spline_idx(1);
spline_goal_builder.add_drive_spline_backwards(false);
spline_goal_builder.add_spline(multispline_offset);
- ASSERT_TRUE(builder.Send(spline_goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(spline_goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
{
auto builder = drivetrain_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(1);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(2000));
@@ -1153,7 +1194,8 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(0);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(500));
@@ -1180,14 +1222,16 @@
spline_goal_builder.add_spline_idx(2);
spline_goal_builder.add_drive_spline_backwards(false);
spline_goal_builder.add_spline(multispline_offset);
- ASSERT_TRUE(builder.Send(spline_goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(spline_goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
{
auto builder = drivetrain_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(2);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
WaitForTrajectoryExecution();
@@ -1222,7 +1266,8 @@
spline_goal_builder.add_spline_idx(1);
spline_goal_builder.add_drive_spline_backwards(false);
spline_goal_builder.add_spline(multispline_offset);
- ASSERT_TRUE(builder.Send(spline_goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(spline_goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(1000));
@@ -1250,7 +1295,8 @@
spline_goal_builder.add_spline_idx(2);
spline_goal_builder.add_drive_spline_backwards(false);
spline_goal_builder.add_spline(multispline_offset);
- ASSERT_TRUE(builder.Send(spline_goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(spline_goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
// Now execute it.
@@ -1259,7 +1305,8 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(2);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
WaitForTrajectoryExecution();
@@ -1292,7 +1339,8 @@
spline_goal_builder.add_spline_idx(1);
spline_goal_builder.add_drive_spline_backwards(false);
spline_goal_builder.add_spline(multispline_offset);
- ASSERT_TRUE(builder.Send(spline_goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(spline_goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
// Second spline goal
@@ -1318,14 +1366,16 @@
spline_goal_builder.add_spline_idx(2);
spline_goal_builder.add_drive_spline_backwards(false);
spline_goal_builder.add_spline(multispline_offset);
- ASSERT_TRUE(builder.Send(spline_goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(spline_goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
{
auto builder = drivetrain_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(1);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
WaitForTrajectoryExecution();
@@ -1335,7 +1385,8 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(2);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(4000));
@@ -1367,7 +1418,8 @@
spline_goal_builder.add_spline_idx(1);
spline_goal_builder.add_drive_spline_backwards(false);
spline_goal_builder.add_spline(multispline_offset);
- ASSERT_TRUE(builder.Send(spline_goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(spline_goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
for (int i = 0; i < 100; ++i) {
@@ -1402,7 +1454,8 @@
spline_goal_builder.add_spline_idx(1);
spline_goal_builder.add_drive_spline_backwards(false);
spline_goal_builder.add_spline(multispline_offset);
- ASSERT_TRUE(builder.Send(spline_goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(spline_goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(2000));
@@ -1412,7 +1465,8 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(1);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
WaitForTrajectoryExecution();
@@ -1434,7 +1488,8 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(kRunSpline);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
for (size_t spline_index = 0;
spline_index < DrivetrainLoop::kNumSplineFetchers + kExtraSplines;
@@ -1460,7 +1515,8 @@
spline_goal_builder.add_spline_idx(spline_index);
spline_goal_builder.add_drive_spline_backwards(false);
spline_goal_builder.add_spline(multispline_offset);
- ASSERT_TRUE(builder.Send(spline_goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(spline_goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
// Run for at least 2 iterations. Because of how the logic works, there will
// actually typically be a single iteration where we store kNumStoredSplines
// + 1.
@@ -1504,7 +1560,8 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::LINE_FOLLOWER);
goal_builder.add_throttle(0.5);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(5));
@@ -1541,7 +1598,8 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_controller_type(ControllerType::LINE_FOLLOWER);
goal_builder.add_throttle(0.5);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(5));
@@ -1564,7 +1622,8 @@
localizer_control_builder.add_x(9.0);
localizer_control_builder.add_y(7.0);
localizer_control_builder.add_theta(1.0);
- ASSERT_TRUE(builder.Send(localizer_control_builder.Finish()));
+ ASSERT_EQ(builder.Send(localizer_control_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(dt());
@@ -1586,7 +1645,8 @@
goal_builder.add_controller_type(ControllerType::MOTION_PROFILE);
goal_builder.add_left_goal(4.0);
goal_builder.add_right_goal(4.0);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(2));
diff --git a/frc971/control_loops/drivetrain/drivetrain_plotter.ts b/frc971/control_loops/drivetrain/drivetrain_plotter.ts
index f55f965..deb300f 100644
--- a/frc971/control_loops/drivetrain/drivetrain_plotter.ts
+++ b/frc971/control_loops/drivetrain/drivetrain_plotter.ts
@@ -24,12 +24,9 @@
'/drivetrain', 'frc971.IMUValuesBatch',
new ImuMessageHandler(conn.getSchema('frc971.IMUValuesBatch')));
- let currentTop = 0;
-
// Polydrivetrain (teleop control) plots
const teleopPlot =
- aosPlotter.addPlot(element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
- currentTop += DEFAULT_HEIGHT / 2;
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
teleopPlot.plot.getAxisLabels().setTitle('Drivetrain Teleop Goals');
teleopPlot.plot.getAxisLabels().setXLabel(TIME);
teleopPlot.plot.getAxisLabels().setYLabel('bool, throttle/wheel values');
@@ -44,8 +41,7 @@
// Drivetrain Control Mode
const modePlot =
- aosPlotter.addPlot(element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
- currentTop += DEFAULT_HEIGHT / 2;
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
// TODO(james): Actually add enum support.
modePlot.plot.getAxisLabels().setTitle(
'Drivetrain Mode [POLYDRIVE, MOTION_PROFILE, ' +
@@ -58,9 +54,7 @@
controllerType.setDrawLine(false);
// Drivetrain Status estimated relative position
- const positionPlot = aosPlotter.addPlot(element, [0, currentTop],
- [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
- currentTop += DEFAULT_HEIGHT;
+ const positionPlot = aosPlotter.addPlot(element);
positionPlot.plot.getAxisLabels().setTitle("Estimated Relative Position " +
"of the Drivetrain");
positionPlot.plot.getAxisLabels().setXLabel(TIME);
@@ -83,9 +77,7 @@
rightEncoder.setColor(CYAN);
// Drivetrain Output Voltage
- const outputPlot =
- aosPlotter.addPlot(element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
- currentTop += DEFAULT_HEIGHT;
+ const outputPlot = aosPlotter.addPlot(element);
outputPlot.plot.getAxisLabels().setTitle('Drivetrain Output');
outputPlot.plot.getAxisLabels().setXLabel(TIME);
outputPlot.plot.getAxisLabels().setYLabel('Voltage (V)');
@@ -96,9 +88,7 @@
rightVoltage.setColor(GREEN);
// Voltage Errors
- const voltageErrors =
- aosPlotter.addPlot(element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
- currentTop += DEFAULT_HEIGHT;
+ const voltageErrors = aosPlotter.addPlot(element);
voltageErrors.plot.getAxisLabels().setTitle('Voltage Errors');
voltageErrors.plot.getAxisLabels().setXLabel(TIME);
voltageErrors.plot.getAxisLabels().setYLabel('Voltage (V)');
@@ -118,9 +108,7 @@
ekfRightVoltageError.setColor(CYAN);
// Sundry components of the output voltages
- const otherVoltages =
- aosPlotter.addPlot(element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
- currentTop += DEFAULT_HEIGHT;
+ const otherVoltages = aosPlotter.addPlot(element);
otherVoltages.plot.getAxisLabels().setTitle('Other Voltage Components');
otherVoltages.plot.getAxisLabels().setXLabel(TIME);
otherVoltages.plot.getAxisLabels().setYLabel('Voltage (V)');
@@ -144,9 +132,7 @@
uncappedRightVoltage.setDrawLine(false);
// Drivetrain Velocities
- const velocityPlot =
- aosPlotter.addPlot(element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
- currentTop += DEFAULT_HEIGHT;
+ const velocityPlot = aosPlotter.addPlot(element);
velocityPlot.plot.getAxisLabels().setTitle('Velocity Plots');
velocityPlot.plot.getAxisLabels().setXLabel(TIME);
velocityPlot.plot.getAxisLabels().setYLabel('Wheel Velocity (m/s)');
@@ -183,9 +169,7 @@
rightSpeed.setColor(BROWN);
// Drivetrain trajectory and localizer velocities
- const velocityPlot2 = aosPlotter.addPlot(element, [0, currentTop],
- [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
- currentTop += DEFAULT_HEIGHT;
+ const velocityPlot2 = aosPlotter.addPlot(element);
velocityPlot2.plot.getAxisLabels().setTitle(
"Trajectory and Localizer Velocity Plots");
velocityPlot2.plot.getAxisLabels().setXLabel(TIME);
@@ -221,8 +205,7 @@
splineLateralVelocity.setPointSize(0.0);
// Heading
- const yawPlot = aosPlotter.addPlot(element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
- currentTop += DEFAULT_HEIGHT;
+ const yawPlot = aosPlotter.addPlot(element);
yawPlot.plot.getAxisLabels().setTitle('Robot Yaw');
yawPlot.plot.getAxisLabels().setXLabel(TIME);
yawPlot.plot.getAxisLabels().setYLabel('Yaw (rad)');
@@ -240,9 +223,7 @@
downEstimatorYaw.setColor(BLUE);
// Pitch/Roll
- const orientationPlot =
- aosPlotter.addPlot(element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
- currentTop += DEFAULT_HEIGHT;
+ const orientationPlot = aosPlotter.addPlot(element);
orientationPlot.plot.getAxisLabels().setTitle('Orientation');
orientationPlot.plot.getAxisLabels().setXLabel(TIME);
orientationPlot.plot.getAxisLabels().setYLabel('Angle (rad)');
@@ -257,9 +238,7 @@
pitch.setLabel('pitch');
// Accelerometer/Gravity
- const accelPlot =
- aosPlotter.addPlot(element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
- currentTop += DEFAULT_HEIGHT;
+ const accelPlot = aosPlotter.addPlot(element);
accelPlot.plot.getAxisLabels().setTitle('Accelerometer Readings');
accelPlot.plot.getAxisLabels().setYLabel('Acceleration (g)');
accelPlot.plot.getAxisLabels().setXLabel('Monotonic Reading Time (sec)');
@@ -293,9 +272,7 @@
accelZ.setDrawLine(false);
// Absolute X Position
- const xPositionPlot =
- aosPlotter.addPlot(element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
- currentTop += DEFAULT_HEIGHT;
+ const xPositionPlot = aosPlotter.addPlot(element);
xPositionPlot.plot.getAxisLabels().setTitle('X Position');
xPositionPlot.plot.getAxisLabels().setXLabel(TIME);
xPositionPlot.plot.getAxisLabels().setYLabel('X Position (m)');
@@ -307,9 +284,7 @@
splineX.setColor(GREEN);
// Absolute Y Position
- const yPositionPlot =
- aosPlotter.addPlot(element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
- currentTop += DEFAULT_HEIGHT;
+ const yPositionPlot = aosPlotter.addPlot(element);
yPositionPlot.plot.getAxisLabels().setTitle('Y Position');
yPositionPlot.plot.getAxisLabels().setXLabel(TIME);
yPositionPlot.plot.getAxisLabels().setYLabel('Y Position (m)');
@@ -321,9 +296,7 @@
splineY.setColor(GREEN);
// Gyro
- const gyroPlot =
- aosPlotter.addPlot(element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
- currentTop += DEFAULT_HEIGHT;
+ const gyroPlot = aosPlotter.addPlot(element);
gyroPlot.plot.getAxisLabels().setTitle('Gyro Readings');
gyroPlot.plot.getAxisLabels().setYLabel('Angular Velocity (rad / sec)');
gyroPlot.plot.getAxisLabels().setXLabel('Monotonic Reading Time (sec)');
@@ -353,8 +326,7 @@
// IMU States
const imuStatePlot =
- aosPlotter.addPlot(element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
- currentTop += DEFAULT_HEIGHT / 2;
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
imuStatePlot.plot.getAxisLabels().setTitle('IMU State');
imuStatePlot.plot.getAxisLabels().setXLabel(TIME);
imuStatePlot.plot.setDefaultYRange([-0.1, 1.1]);
diff --git a/frc971/control_loops/drivetrain/drivetrain_status.fbs b/frc971/control_loops/drivetrain/drivetrain_status.fbs
index fd3ff0e..f886bb2 100644
--- a/frc971/control_loops/drivetrain/drivetrain_status.fbs
+++ b/frc971/control_loops/drivetrain/drivetrain_status.fbs
@@ -259,6 +259,9 @@
localizer:LocalizerState (id: 26);
zeroing:ImuZeroerState (id: 27);
+
+ // Total number of status send failures.
+ send_failures:uint64 (id: 28);
}
root_type Status;
diff --git a/frc971/control_loops/drivetrain/drivetrain_test_lib.cc b/frc971/control_loops/drivetrain/drivetrain_test_lib.cc
index aabd1c6..4b5138e 100644
--- a/frc971/control_loops/drivetrain/drivetrain_test_lib.cc
+++ b/frc971/control_loops/drivetrain/drivetrain_test_lib.cc
@@ -7,6 +7,7 @@
#include "frc971/control_loops/drivetrain/trajectory.h"
#include "frc971/control_loops/state_feedback_loop.h"
#include "gflags/gflags.h"
+#include "glog/logging.h"
#if defined(SUPPORT_PLOT)
#include "third_party/matplotlib-cpp/matplotlibcpp.h"
#endif
@@ -148,7 +149,7 @@
dt_config_.dt);
// TODO(milind): We should be able to get IMU readings at 1 kHz instead of 2.
event_loop_->AddPhasedLoop([this](int) { ReadImu(); },
- std::chrono::milliseconds(5));
+ frc971::controls::kLoopFrequency);
}
void DrivetrainSimulation::Reinitialize() {
@@ -168,7 +169,8 @@
status_builder.add_x(state_.x());
status_builder.add_y(state_.y());
status_builder.add_theta(state_(2));
- builder.Send(status_builder.Finish());
+ CHECK_EQ(builder.Send(status_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
void DrivetrainSimulation::SendPositionMessage() {
@@ -184,7 +186,8 @@
position_builder.add_right_encoder(right_encoder);
position_builder.add_left_shifter_position(left_gear_high_ ? 1.0 : 0.0);
position_builder.add_right_shifter_position(right_gear_high_ ? 1.0 : 0.0);
- builder.Send(position_builder.Finish());
+ CHECK_EQ(builder.Send(position_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
}
@@ -263,7 +266,8 @@
frc971::IMUValuesBatch::Builder imu_values_batch_builder =
builder.MakeBuilder<frc971::IMUValuesBatch>();
imu_values_batch_builder.add_readings(imu_values_offset);
- builder.Send(imu_values_batch_builder.Finish());
+ CHECK_EQ(builder.Send(imu_values_batch_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
// Simulates the drivetrain moving for one timestep.
diff --git a/frc971/control_loops/drivetrain/improved_down_estimator_test.cc b/frc971/control_loops/drivetrain/improved_down_estimator_test.cc
index 8aed6b2..4dcfe60 100644
--- a/frc971/control_loops/drivetrain/improved_down_estimator_test.cc
+++ b/frc971/control_loops/drivetrain/improved_down_estimator_test.cc
@@ -102,7 +102,7 @@
Eigen::Matrix<double, 3, 1> measurement;
measurement.setZero();
for (int ii = 0; ii < 200; ++ii) {
- dtukf.Predict(ux * M_PI_2, measurement, std::chrono::milliseconds(5));
+ dtukf.Predict(ux * M_PI_2, measurement, frc971::controls::kLoopFrequency);
}
const Eigen::Quaterniond expected(Eigen::AngleAxis<double>(M_PI_2, ux));
EXPECT_TRUE(QuaternionEqual(expected, dtukf.X_hat(), 0.01))
@@ -185,7 +185,8 @@
(Eigen::Vector3d(0.0, 0.0, 1.0) - dtukf.H(dtukf.X_hat().coeffs()))
.norm());
for (int ii = 0; ii < 200; ++ii) {
- dtukf.Predict({0.0, 0.0, 0.0}, measurement, std::chrono::milliseconds(5));
+ dtukf.Predict({0.0, 0.0, 0.0}, measurement,
+ frc971::controls::kLoopFrequency);
}
const Eigen::Quaterniond expected(Eigen::AngleAxis<double>(M_PI_2, ux));
EXPECT_TRUE(QuaternionEqual(expected, dtukf.X_hat(), 0.01))
@@ -207,7 +208,7 @@
measurement << 0.3, 1.0, 0.0;
for (int ii = 0; ii < 200; ++ii) {
dtukf.Predict({0.0, M_PI_2, 0.0}, measurement,
- std::chrono::milliseconds(5));
+ frc971::controls::kLoopFrequency);
}
const Eigen::Quaterniond expected(Eigen::AngleAxis<double>(M_PI_2, uy));
EXPECT_TRUE(QuaternionEqual(expected, dtukf.X_hat(), 1e-1))
diff --git a/frc971/control_loops/drivetrain/robot_state_plotter.ts b/frc971/control_loops/drivetrain/robot_state_plotter.ts
index 829df25..2ce8001 100644
--- a/frc971/control_loops/drivetrain/robot_state_plotter.ts
+++ b/frc971/control_loops/drivetrain/robot_state_plotter.ts
@@ -18,8 +18,7 @@
// Robot Enabled/Disabled and Mode
const robotStatePlot =
- aosPlotter.addPlot(element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
- currentTop += DEFAULT_HEIGHT / 2;
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
robotStatePlot.plot.getAxisLabels().setTitle('Robot State');
robotStatePlot.plot.getAxisLabels().setXLabel(TIME);
robotStatePlot.plot.getAxisLabels().setYLabel('bool');
@@ -41,7 +40,7 @@
// Battery Voltage
const batteryPlot =
- aosPlotter.addPlot(element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
currentTop += DEFAULT_HEIGHT / 2;
batteryPlot.plot.getAxisLabels().setTitle('Battery Voltage');
batteryPlot.plot.getAxisLabels().setXLabel(TIME);
@@ -51,7 +50,7 @@
// PID of process reading sensors
const readerPidPlot =
- aosPlotter.addPlot(element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
currentTop += DEFAULT_HEIGHT / 2;
readerPidPlot.plot.getAxisLabels().setTitle("PID of Process Reading Sensors");
readerPidPlot.plot.getAxisLabels().setXLabel(TIME);
diff --git a/frc971/control_loops/drivetrain/spline_plotter.ts b/frc971/control_loops/drivetrain/spline_plotter.ts
index 028a3fc..c39afd5 100644
--- a/frc971/control_loops/drivetrain/spline_plotter.ts
+++ b/frc971/control_loops/drivetrain/spline_plotter.ts
@@ -25,7 +25,7 @@
// Polydrivetrain (teleop control) plots
const longitudinalPlot = aosPlotter.addPlot(
- element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
currentTop += DEFAULT_HEIGHT / 2;
longitudinalPlot.plot.getAxisLabels().setTitle('Longitudinal Distance');
longitudinalPlot.plot.getAxisLabels().setXLabel(TIME);
@@ -35,7 +35,7 @@
status, ['trajectory_logging', 'distance_remaining']);
const boolPlot = aosPlotter.addPlot(
- element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
currentTop += DEFAULT_HEIGHT / 2;
boolPlot.plot.getAxisLabels().setTitle('Bool Flags');
boolPlot.plot.getAxisLabels().setXLabel(TIME);
@@ -46,8 +46,7 @@
boolPlot.addMessageLine(status, ['trajectory_logging', 'is_executed'])
.setColor(BLUE);
- const handlePlot = aosPlotter.addPlot(
- element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
+ const handlePlot = aosPlotter.addPlot(element);
currentTop += DEFAULT_HEIGHT;
handlePlot.plot.getAxisLabels().setTitle('Spline Handles');
handlePlot.plot.getAxisLabels().setXLabel(TIME);
diff --git a/frc971/control_loops/drivetrain/trajectory_generator.cc b/frc971/control_loops/drivetrain/trajectory_generator.cc
index 16b6809..d022b34 100644
--- a/frc971/control_loops/drivetrain/trajectory_generator.cc
+++ b/frc971/control_loops/drivetrain/trajectory_generator.cc
@@ -22,7 +22,8 @@
aos::Sender<fb::Trajectory>::Builder builder =
trajectory_sender_.MakeBuilder();
- CHECK(builder.Send(trajectory.Serialize(builder.fbb())));
+ CHECK_EQ(builder.Send(trajectory.Serialize(builder.fbb())),
+ aos::RawSender::Error::kOk);
}
} // namespace drivetrain
diff --git a/frc971/control_loops/hybrid_state_feedback_loop.h b/frc971/control_loops/hybrid_state_feedback_loop.h
index 23a3d21..0170d7c 100644
--- a/frc971/control_loops/hybrid_state_feedback_loop.h
+++ b/frc971/control_loops/hybrid_state_feedback_loop.h
@@ -293,7 +293,7 @@
X_hat_.setZero();
P_ = coefficients().P_steady_state;
UpdateQR(plant, coefficients().Q_continuous, coefficients().R_continuous,
- ::std::chrono::milliseconds(5));
+ frc971::controls::kLoopFrequency);
}
void Predict(StateFeedbackHybridPlant<number_of_states, number_of_inputs,
diff --git a/frc971/control_loops/hybrid_state_feedback_loop_test.cc b/frc971/control_loops/hybrid_state_feedback_loop_test.cc
index c5b0771..c866457 100644
--- a/frc971/control_loops/hybrid_state_feedback_loop_test.cc
+++ b/frc971/control_loops/hybrid_state_feedback_loop_test.cc
@@ -127,7 +127,8 @@
Eigen::Matrix<double, 7, 2>::Identity(),
Eigen::Matrix<double, 7, 4>::Identity(),
Eigen::Matrix<double, 4, 1>::Constant(1),
- Eigen::Matrix<double, 4, 1>::Constant(-1), std::chrono::milliseconds(5));
+ Eigen::Matrix<double, 4, 1>::Constant(-1),
+ frc971::controls::kLoopFrequency);
// Build a plant.
::std::vector<::std::unique_ptr<StateFeedbackPlantCoefficients<2, 4, 7>>>
@@ -166,7 +167,7 @@
// matches what was computed both in Python and in Matlab.
TEST(StateFeedbackLoopTest, PythonMatch) {
auto test_loop = MakeIntegralShooterLoop();
- test_loop.Update(false, ::std::chrono::milliseconds(5));
+ test_loop.Update(false, frc971::controls::kLoopFrequency);
Eigen::Matrix<double, 3, 3> A_discrete;
A_discrete << 1, 0.00490008, 0.00547272, 0, 0.96029888, 2.17440921, 0, 0, 1;
diff --git a/frc971/control_loops/python/BUILD b/frc971/control_loops/python/BUILD
index a4b8fb8..8679374 100644
--- a/frc971/control_loops/python/BUILD
+++ b/frc971/control_loops/python/BUILD
@@ -26,12 +26,12 @@
],
data = [
"//third_party/cddlib:_cddlib.so",
- "@python_repo//:scipy",
],
target_compatible_with = ["@platforms//cpu:x86_64"],
deps = [
":python_init",
"//external:python-glog",
+ "@python_repo//:scipy",
],
)
@@ -98,6 +98,7 @@
deps = [
":libspline",
":python_init",
+ "@python_repo//:numpy",
],
)
diff --git a/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.cc b/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.cc
index cb0f651..62e3d08 100644
--- a/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.cc
+++ b/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.cc
@@ -14,6 +14,7 @@
#include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test_subsystem_goal_generated.h"
#include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test_subsystem_output_generated.h"
#include "frc971/zeroing/zeroing.h"
+#include "glog/logging.h"
#include "gtest/gtest.h"
using ::frc971::control_loops::PositionSensorSimulator;
@@ -171,7 +172,8 @@
&real_position_builder);
auto position_builder = position.template MakeBuilder<PositionType>();
position_builder.add_position(position_offset);
- position.Send(position_builder.Finish());
+ CHECK_EQ(position.Send(position_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
void set_peak_subsystem_acceleration(double value) {
@@ -331,13 +333,16 @@
status->fbb());
typename StatusType::Builder subsystem_status_builder =
status->template MakeBuilder<StatusType>();
+
subsystem_status_builder.add_status(status_offset);
- status->Send(subsystem_status_builder.Finish());
+ CHECK_EQ(status->Send(subsystem_status_builder.Finish()),
+ aos::RawSender::Error::kOk);
if (output != nullptr) {
typename OutputType::Builder output_builder =
output->template MakeBuilder<OutputType>();
output_builder.add_output(output_voltage);
- output->Send(output_builder.Finish());
+ CHECK_EQ(output->Send(output_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
}
@@ -419,8 +424,9 @@
// Intake system uses 0.05 to test for 0.
{
auto message = this->subsystem_goal_sender_.MakeBuilder();
- EXPECT_TRUE(message.Send(
- zeroing::testing::CreateSubsystemGoal(*message.fbb(), 0.05)));
+ EXPECT_EQ(message.Send(
+ zeroing::testing::CreateSubsystemGoal(*message.fbb(), 0.05)),
+ aos::RawSender::Error::kOk);
}
this->RunFor(chrono::seconds(5));
@@ -437,8 +443,9 @@
message.template MakeBuilder<frc971::ProfileParameters>();
profile_builder.add_max_velocity(1);
profile_builder.add_max_acceleration(0.5);
- EXPECT_TRUE(message.Send(zeroing::testing::CreateSubsystemGoal(
- *message.fbb(), 0.10, profile_builder.Finish())));
+ EXPECT_EQ(message.Send(zeroing::testing::CreateSubsystemGoal(
+ *message.fbb(), 0.10, profile_builder.Finish())),
+ aos::RawSender::Error::kOk);
}
// Give it a lot of time to get there.
@@ -459,8 +466,9 @@
profile_builder.add_max_velocity(std::numeric_limits<double>::quiet_NaN());
profile_builder.add_max_acceleration(
std::numeric_limits<double>::quiet_NaN());
- EXPECT_TRUE(message.Send(zeroing::testing::CreateSubsystemGoal(
- *message.fbb(), 0.10, profile_builder.Finish(), 0.0, true)));
+ EXPECT_EQ(message.Send(zeroing::testing::CreateSubsystemGoal(
+ *message.fbb(), 0.10, profile_builder.Finish(), 0.0, true)),
+ aos::RawSender::Error::kOk);
}
// Give it a lot of time to get there.
@@ -483,12 +491,14 @@
message.template MakeBuilder<frc971::ProfileParameters>();
profile_builder.add_max_velocity(0);
profile_builder.add_max_acceleration(0);
- EXPECT_TRUE(message.Send(zeroing::testing::CreateSubsystemGoal(
- *message.fbb(),
- kStartingGoal + aos::time::DurationInSeconds(
- this->monotonic_now().time_since_epoch()) *
- kVelocity,
- profile_builder.Finish(), kVelocity, true)));
+ EXPECT_EQ(
+ message.Send(zeroing::testing::CreateSubsystemGoal(
+ *message.fbb(),
+ kStartingGoal + aos::time::DurationInSeconds(
+ this->monotonic_now().time_since_epoch()) *
+ kVelocity,
+ profile_builder.Finish(), kVelocity, true)),
+ aos::RawSender::Error::kOk);
},
this->dt());
@@ -514,8 +524,9 @@
// Zero it before we move.
{
auto message = this->subsystem_goal_sender_.MakeBuilder();
- EXPECT_TRUE(message.Send(
- zeroing::testing::CreateSubsystemGoal(*message.fbb(), kRange.upper)));
+ EXPECT_EQ(message.Send(zeroing::testing::CreateSubsystemGoal(*message.fbb(),
+ kRange.upper)),
+ aos::RawSender::Error::kOk);
}
this->RunFor(chrono::seconds(8));
this->VerifyNearGoal();
@@ -528,8 +539,9 @@
message.template MakeBuilder<frc971::ProfileParameters>();
profile_builder.add_max_velocity(20.0);
profile_builder.add_max_acceleration(0.1);
- EXPECT_TRUE(message.Send(zeroing::testing::CreateSubsystemGoal(
- *message.fbb(), kRange.lower, profile_builder.Finish())));
+ EXPECT_EQ(message.Send(zeroing::testing::CreateSubsystemGoal(
+ *message.fbb(), kRange.lower, profile_builder.Finish())),
+ aos::RawSender::Error::kOk);
}
this->set_peak_subsystem_velocity(23.0);
this->set_peak_subsystem_acceleration(0.2);
@@ -544,8 +556,9 @@
message.template MakeBuilder<frc971::ProfileParameters>();
profile_builder.add_max_velocity(0.1);
profile_builder.add_max_acceleration(100.0);
- EXPECT_TRUE(message.Send(zeroing::testing::CreateSubsystemGoal(
- *message.fbb(), kRange.upper, profile_builder.Finish())));
+ EXPECT_EQ(message.Send(zeroing::testing::CreateSubsystemGoal(
+ *message.fbb(), kRange.upper, profile_builder.Finish())),
+ aos::RawSender::Error::kOk);
}
this->set_peak_subsystem_velocity(0.2);
@@ -567,8 +580,9 @@
message.template MakeBuilder<frc971::ProfileParameters>();
profile_builder.add_max_velocity(1.0);
profile_builder.add_max_acceleration(0.5);
- EXPECT_TRUE(message.Send(zeroing::testing::CreateSubsystemGoal(
- *message.fbb(), 100.0, profile_builder.Finish())));
+ EXPECT_EQ(message.Send(zeroing::testing::CreateSubsystemGoal(
+ *message.fbb(), 100.0, profile_builder.Finish())),
+ aos::RawSender::Error::kOk);
}
this->RunFor(chrono::seconds(10));
@@ -584,8 +598,9 @@
message.template MakeBuilder<frc971::ProfileParameters>();
profile_builder.add_max_velocity(1.0);
profile_builder.add_max_acceleration(0.5);
- EXPECT_TRUE(message.Send(zeroing::testing::CreateSubsystemGoal(
- *message.fbb(), -100.0, profile_builder.Finish())));
+ EXPECT_EQ(message.Send(zeroing::testing::CreateSubsystemGoal(
+ *message.fbb(), -100.0, profile_builder.Finish())),
+ aos::RawSender::Error::kOk);
}
this->RunFor(chrono::seconds(10));
@@ -606,8 +621,9 @@
message.template MakeBuilder<frc971::ProfileParameters>();
profile_builder.add_max_velocity(1.0);
profile_builder.add_max_acceleration(0.5);
- EXPECT_TRUE(message.Send(zeroing::testing::CreateSubsystemGoal(
- *message.fbb(), kRange.upper, profile_builder.Finish())));
+ EXPECT_EQ(message.Send(zeroing::testing::CreateSubsystemGoal(
+ *message.fbb(), kRange.upper, profile_builder.Finish())),
+ aos::RawSender::Error::kOk);
}
this->RunFor(chrono::seconds(10));
@@ -628,8 +644,9 @@
this->subsystem_plant_.InitializeSubsystemPosition(kRange.lower_hard);
{
auto message = this->subsystem_goal_sender_.MakeBuilder();
- EXPECT_TRUE(message.Send(
- zeroing::testing::CreateSubsystemGoal(*message.fbb(), kRange.upper)));
+ EXPECT_EQ(message.Send(zeroing::testing::CreateSubsystemGoal(*message.fbb(),
+ kRange.upper)),
+ aos::RawSender::Error::kOk);
}
this->RunFor(chrono::seconds(10));
@@ -643,8 +660,9 @@
this->subsystem_plant_.InitializeSubsystemPosition(kRange.upper_hard);
{
auto message = this->subsystem_goal_sender_.MakeBuilder();
- EXPECT_TRUE(message.Send(
- zeroing::testing::CreateSubsystemGoal(*message.fbb(), kRange.upper)));
+ EXPECT_EQ(message.Send(zeroing::testing::CreateSubsystemGoal(*message.fbb(),
+ kRange.upper)),
+ aos::RawSender::Error::kOk);
}
this->RunFor(chrono::seconds(10));
@@ -658,8 +676,9 @@
this->subsystem_plant_.InitializeSubsystemPosition(kRange.upper);
{
auto message = this->subsystem_goal_sender_.MakeBuilder();
- EXPECT_TRUE(message.Send(zeroing::testing::CreateSubsystemGoal(
- *message.fbb(), kRange.upper - 0.1)));
+ EXPECT_EQ(message.Send(zeroing::testing::CreateSubsystemGoal(
+ *message.fbb(), kRange.upper - 0.1)),
+ aos::RawSender::Error::kOk);
}
this->RunFor(chrono::seconds(10));
@@ -682,8 +701,9 @@
TYPED_TEST_P(IntakeSystemTest, DisabledGoalTest) {
{
auto message = this->subsystem_goal_sender_.MakeBuilder();
- EXPECT_TRUE(message.Send(zeroing::testing::CreateSubsystemGoal(
- *message.fbb(), kRange.lower + 0.03)));
+ EXPECT_EQ(message.Send(zeroing::testing::CreateSubsystemGoal(
+ *message.fbb(), kRange.lower + 0.03)),
+ aos::RawSender::Error::kOk);
}
// Checks that the subsystem has not moved from its starting position at 0
@@ -700,8 +720,9 @@
TYPED_TEST_P(IntakeSystemTest, DisabledZeroTest) {
{
auto message = this->subsystem_goal_sender_.MakeBuilder();
- EXPECT_TRUE(message.Send(
- zeroing::testing::CreateSubsystemGoal(*message.fbb(), kRange.lower)));
+ EXPECT_EQ(message.Send(zeroing::testing::CreateSubsystemGoal(*message.fbb(),
+ kRange.lower)),
+ aos::RawSender::Error::kOk);
}
// Run disabled for 2 seconds
@@ -719,8 +740,9 @@
this->SetEnabled(true);
{
auto message = this->subsystem_goal_sender_.MakeBuilder();
- EXPECT_TRUE(message.Send(zeroing::testing::CreateSubsystemGoal(
- *message.fbb(), kRange.lower_hard)));
+ EXPECT_EQ(message.Send(zeroing::testing::CreateSubsystemGoal(
+ *message.fbb(), kRange.lower_hard)),
+ aos::RawSender::Error::kOk);
}
this->RunFor(chrono::seconds(2));
@@ -753,8 +775,9 @@
{
auto message = this->subsystem_goal_sender_.MakeBuilder();
- EXPECT_TRUE(message.Send(zeroing::testing::CreateSubsystemGoal(
- *message.fbb(), kRange.upper_hard)));
+ EXPECT_EQ(message.Send(zeroing::testing::CreateSubsystemGoal(
+ *message.fbb(), kRange.upper_hard)),
+ aos::RawSender::Error::kOk);
}
this->RunFor(chrono::seconds(2));
diff --git a/frc971/input/drivetrain_input.cc b/frc971/input/drivetrain_input.cc
index b062ceb..b1adf1c 100644
--- a/frc971/input/drivetrain_input.cc
+++ b/frc971/input/drivetrain_input.cc
@@ -114,7 +114,7 @@
goal_builder.add_right_goal(current_right_goal);
goal_builder.add_linear(linear_offset);
- if (!builder.Send(goal_builder.Finish())) {
+ if (builder.Send(goal_builder.Finish()) != aos::RawSender::Error::kOk) {
AOS_LOG(WARNING, "sending stick values failed\n");
}
diff --git a/frc971/vision_codelab/README.md b/frc971/vision_codelab/README.md
new file mode 100755
index 0000000..6a58694
--- /dev/null
+++ b/frc971/vision_codelab/README.md
@@ -0,0 +1,21 @@
+# Vision Codelab
+## Prerequisites: python knowledge, familiarity with pip and numpy (if not, google them and learn!)
+
+In this codelab, you will be writing the vision code for the Galactic Search Challenge
+(detailed on page 18 [here](https://firstfrc.blob.core.windows.net/frc2021/Manual/2021AtHomeChallengesManual.pdf)) from the 2021 at-home skills Challenges.
+
+
+As explained in the manual, balls will be randomly placed in 4 possible configurations (alliance red/blue and field A/B).
+From images of the field, you will be able to determine which path the balls are in so that the robot can drive with that respective spline.
+
+If you are doing this locally and not on the build server, make sure you have python3 and install the needed packages with
+`pip3 install numpy matplotlib opencv-python absl-py glog`
+
+Then, read/watch these opencv tutorials in order, which you will need for the codelab:
+- [Intro](https://www.geeksforgeeks.org/introduction-to-opencv/)
+- [Color spaces](https://www.geeksforgeeks.org/color-spaces-in-opencv-python/?ref=lbp)
+- [Converting between color spaces](https://www.geeksforgeeks.org/python-opencv-cv2-cvtcolor-method/?ref=gcse)
+- MOST IMPORTANT: [Filtering colors](https://pythonprogramming.net/color-filter-python-opencv-tutorial/)
+- [Erosion and dilation](https://www.geeksforgeeks.org/erosion-dilation-images-using-opencv-python/)
+
+Now, follow the TODOs in codelab.py, and run ./codelab_test.py to test your code.
diff --git a/frc971/vision_codelab/blue_a.png b/frc971/vision_codelab/blue_a.png
new file mode 100755
index 0000000..f899c1e
--- /dev/null
+++ b/frc971/vision_codelab/blue_a.png
Binary files differ
diff --git a/frc971/vision_codelab/blue_b.png b/frc971/vision_codelab/blue_b.png
new file mode 100755
index 0000000..9cf2773
--- /dev/null
+++ b/frc971/vision_codelab/blue_b.png
Binary files differ
diff --git a/frc971/vision_codelab/codelab.py b/frc971/vision_codelab/codelab.py
new file mode 100644
index 0000000..617a6a1
--- /dev/null
+++ b/frc971/vision_codelab/codelab.py
@@ -0,0 +1,124 @@
+import cv2 as cv
+import enum
+import numpy as np
+
+
+class Rect:
+ """
+ Holds points for a rectangle in an image.
+ This section of the image is where to expect a ball.
+ """
+
+ # x1 and y1 are top left corner, x2 and y2 are bottom right
+ def __init__(self, x1, y1, x2, y2):
+ self.x1 = x1
+ self.y1 = y1
+ self.x2 = x2
+ self.y2 = y2
+
+ def __str__(self):
+ return "({}, {}), ({}, {})".format(self.x1, self.y1, self.x2, self.y2)
+
+
+class Alliance(enum.Enum):
+ RED = enum.auto()
+ BLUE = enum.auto()
+ UNKNOWN = enum.auto()
+
+
+class Letter(enum.Enum):
+ A = enum.auto()
+ B = enum.auto()
+
+
+class Path:
+ """
+ Each path (ex. Red A, Blue B, etc.) contains a Letter, Alliance, and
+ 2-3 rectangles (the places to expect balls in).
+ There may be only 2 rectangles if there isn't a clear view at all of the balls.
+ """
+
+ def __init__(self, letter, alliance, rects):
+ self.letter = letter
+ self.alliance = alliance
+ self.rects = rects
+
+ def __str__(self):
+ return "%s %s: " % (self.alliance.value, self.letter.value)
+
+
+# TODO: view each of the 4 images in this folder by running `./img_viewer.py <image_file>`,
+# and figure out the retangle bounds for each of the 3 balls in each of the 4 paths.
+# You can move your cursor to the endpoints of the rectangle, and it will show
+# the coordinates.
+# Note that in some images, there might not be a good view of 3 balls and you might have to just use rects of 2.
+# That is ok.
+# Add a new Path to this list for each image.
+PATHS = []
+
+# TODO: fill out the other constants below as you are writing the code in functions
+# galactic_search_path and _pct_yellow
+
+# TODO: figure out the bounds for filtering just like in the video for the red hat.
+# Instead of how the person in the video figured them out, run `./img_viewer.py --hsv <image_file>`
+# to view the images in hsv.
+# Then, move your cursor around the image and it will display the hue, saturation, and value
+# of the pixel you are hovering over. Record the mininum and maximum h, s, and v of all the balls
+# in all photos here.
+LOWER_YELLOW = np.array([0, 0, 0], dtype=np.uint8)
+HIGHER_YELLOW = np.array([255, 255, 255], dtype=np.uint8)
+
+# TODO: once you get to the eroding/dilating step below,
+# tune the kernel by trying different sizes (3, 5 ,7).
+# You can see if your kernel erodes and dilates properly,
+# because when you run the test it will write the image to test_<alliance>_<letter>.png
+# which you can view using img_viewer.py
+# If needed, you can also use different kernels for eroding and dilating.
+KERNEL = np.ones((0, 0), np.uint8)
+
+# Portion of yellow in a rectangle (0 to 1) required for it to be considered as containing a ball.
+# TODO: Try different values for this until it correctly reflects whether a ball is in an rectangle
+# or not.
+BALL_PCT_THRESHOLD = 0
+
+
+def galactic_search_path(img_path):
+ # TODO: read image from img_path into the img variable
+ img = None
+
+ # TODO: convert img into hsv
+ hsv = None
+
+ # TODO: filter yellow using your bounds for yellow and cv.inRange, creating a binary mask
+ mask = None
+
+ # TODO: erode and dilate the mask, and maybe try different numbers of iterations
+ mask = None
+ mask = None
+
+ correct_path = None
+ for path in PATHS:
+ # TODO: If all the percentages are atleast BALL_PCT_THRESHOLD,
+ # then you can say that this path is present on the field and store it.
+ pcts = _pct_yellow(mask, path.rects)
+
+ # TODO: make sure that a path was found, and if not
+ # make sure that correct_path has Alliance.UNKNOWN
+
+ return mask, correct_path
+
+
+# This function finds the percentage of yellow pixels in the rectangles
+# given that are regions of the given image. This allows us to determine
+# whether there is a ball in those rectangles
+def _pct_yellow(mask, rects):
+ pcts = np.zeros(len(rects))
+ for i in range(len(rects)):
+ # TODO: set pcts[i] to be the ratio of the number of yellow pixels in the current rectangle
+ # to the total number of pixels in it.
+ # You can take the section of the mask that is the rectangle, and then count the number of pixels
+ # that aren't zero there with np.count_nonzero to do so,
+ # since mask is a 2d array of either 0 or 255.
+ pass
+
+ return pcts
diff --git a/frc971/vision_codelab/codelab_test.py b/frc971/vision_codelab/codelab_test.py
new file mode 100755
index 0000000..e14d1cd
--- /dev/null
+++ b/frc971/vision_codelab/codelab_test.py
@@ -0,0 +1,41 @@
+#!/usr/bin/python3
+
+import unittest
+import cv2 as cv
+
+import codelab
+
+
+# TODO(milind): this should be integrated with bazel
+class TestCodelab(unittest.TestCase):
+ def codelab_test(self, alliance, letter=None, img_path=None):
+ if img_path is None:
+ img_path = "%s_%s.png" % (alliance.name.lower(),
+ letter.name.lower())
+ mask, path = codelab.galactic_search_path(img_path)
+
+ cv.imwrite("test_" + img_path, mask)
+
+ self.assertEqual(path.alliance, alliance)
+ if letter is not None:
+ self.assertEqual(path.letter, letter)
+
+ def test_red_a(self):
+ self.codelab_test(codelab.Alliance.RED, codelab.Letter.A)
+
+ def test_red_b(self):
+ self.codelab_test(codelab.Alliance.RED, codelab.Letter.B)
+
+ def test_blue_a(self):
+ self.codelab_test(codelab.Alliance.BLUE, codelab.Letter.A)
+
+ def test_blue_b(self):
+ self.codelab_test(codelab.Alliance.BLUE, codelab.Letter.B)
+
+ def test_unknown_path(self):
+ """ Makes sure that Alliance.UNKNOWN is returned when there aren't balls in an image """
+ self.codelab_test(codelab.Alliance.UNKNOWN, img_path="unknown.png")
+
+
+if __name__ == "__main__":
+ unittest.main()
diff --git a/frc971/vision_codelab/img_viewer.py b/frc971/vision_codelab/img_viewer.py
new file mode 100755
index 0000000..fca4e9b
--- /dev/null
+++ b/frc971/vision_codelab/img_viewer.py
@@ -0,0 +1,21 @@
+#!/usr/bin/python3
+
+from absl import app, flags
+import cv2 as cv
+import glog
+import matplotlib.pyplot as plt
+
+flags.DEFINE_bool("hsv", False, "Displays the image in hsv")
+
+
+def main(argv):
+ glog.check_eq(len(argv), 2, "Expected one image filename as an argument")
+ bgr_img = cv.imread(argv[1])
+ img = cv.cvtColor(
+ bgr_img, cv.COLOR_BGR2HSV if flags.FLAGS.hsv else cv.COLOR_BGR2RGB)
+ plt.imshow(img)
+ plt.show()
+
+
+if __name__ == "__main__":
+ app.run(main)
diff --git a/frc971/vision_codelab/red_a.png b/frc971/vision_codelab/red_a.png
new file mode 100755
index 0000000..407fd68
--- /dev/null
+++ b/frc971/vision_codelab/red_a.png
Binary files differ
diff --git a/frc971/vision_codelab/red_b.png b/frc971/vision_codelab/red_b.png
new file mode 100755
index 0000000..e498294
--- /dev/null
+++ b/frc971/vision_codelab/red_b.png
Binary files differ
diff --git a/frc971/vision_codelab/unknown.png b/frc971/vision_codelab/unknown.png
new file mode 100755
index 0000000..14abc6d
--- /dev/null
+++ b/frc971/vision_codelab/unknown.png
Binary files differ
diff --git a/frc971/wpilib/ADIS16448.cc b/frc971/wpilib/ADIS16448.cc
index c047cf9..4be346c 100644
--- a/frc971/wpilib/ADIS16448.cc
+++ b/frc971/wpilib/ADIS16448.cc
@@ -284,7 +284,8 @@
IMUValuesBatch::Builder imu_values_batch_builder =
builder.MakeBuilder<IMUValuesBatch>();
imu_values_batch_builder.add_readings(readings_offset);
- if (!builder.Send(imu_values_batch_builder.Finish())) {
+ if (builder.Send(imu_values_batch_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(WARNING, "sending queue message failed\n");
}
diff --git a/frc971/wpilib/ADIS16470.cc b/frc971/wpilib/ADIS16470.cc
index 151f3e0..b7b315b 100644
--- a/frc971/wpilib/ADIS16470.cc
+++ b/frc971/wpilib/ADIS16470.cc
@@ -263,7 +263,7 @@
IMUValuesBatch::Builder imu_values_batch_builder =
builder.MakeBuilder<IMUValuesBatch>();
imu_values_batch_builder.add_readings(readings_offset);
- builder.Send(imu_values_batch_builder.Finish());
+ builder.CheckOk(builder.Send(imu_values_batch_builder.Finish()));
}
void ADIS16470::DoInitializeStep() {
@@ -388,7 +388,7 @@
IMUValuesBatch::Builder imu_batch_builder =
builder.MakeBuilder<IMUValuesBatch>();
imu_batch_builder.add_readings(readings_offset);
- builder.Send(imu_batch_builder.Finish());
+ builder.CheckOk(builder.Send(imu_batch_builder.Finish()));
if (success) {
state_ = State::kRunning;
} else {
diff --git a/frc971/wpilib/gyro_sender.cc b/frc971/wpilib/gyro_sender.cc
index 9f25d04..ac88acb 100644
--- a/frc971/wpilib/gyro_sender.cc
+++ b/frc971/wpilib/gyro_sender.cc
@@ -54,8 +54,8 @@
AOS_LOG(INFO, "gyro initialized successfully\n");
auto builder = uid_sender_.MakeBuilder();
- builder.Send(
- frc971::sensors::CreateUid(*builder.fbb(), gyro_.ReadPartID()));
+ builder.CheckOk(builder.Send(
+ frc971::sensors::CreateUid(*builder.fbb(), gyro_.ReadPartID())));
}
last_initialize_time_ = monotonic_now;
}
@@ -117,7 +117,7 @@
builder.MakeBuilder<sensors::GyroReading>();
gyro_builder.add_angle(angle_);
gyro_builder.add_velocity(angle_rate + zero_offset_ * kReadingRate);
- builder.Send(gyro_builder.Finish());
+ builder.CheckOk(builder.Send(gyro_builder.Finish()));
} else {
// TODO(brian): Don't break without 6 seconds of standing still before
// enabling. Ideas:
@@ -128,7 +128,7 @@
builder.MakeBuilder<sensors::GyroReading>();
gyro_builder.add_angle(0.0);
gyro_builder.add_velocity(0.0);
- builder.Send(gyro_builder.Finish());
+ builder.CheckOk(builder.Send(gyro_builder.Finish()));
}
zeroing_data_.AddData(new_angle);
diff --git a/frc971/wpilib/imu_plotter.ts b/frc971/wpilib/imu_plotter.ts
index af23ed9..0c735eb 100644
--- a/frc971/wpilib/imu_plotter.ts
+++ b/frc971/wpilib/imu_plotter.ts
@@ -10,7 +10,7 @@
const height = 400;
const aosPlotter = new AosPlotter(conn);
- const accelPlot = aosPlotter.addPlot(element, [0, 0], [width, height]);
+ const accelPlot = aosPlotter.addPlot(element, [width, height]);
accelPlot.plot.getAxisLabels().setTitle('Accelerometer Readings');
accelPlot.plot.getAxisLabels().setYLabel('Acceleration (g)');
accelPlot.plot.getAxisLabels().setXLabel('Monotonic Reading Time (sec)');
@@ -29,7 +29,7 @@
const accelZ = accelPlot.addMessageLine(imu, ['accelerometer_z']);
accelZ.setColor([0, 0, 1]);
- const gyroPlot = aosPlotter.addPlot(element, [0, height], [width, height]);
+ const gyroPlot = aosPlotter.addPlot(element, [width, height]);
gyroPlot.plot.getAxisLabels().setTitle('Gyro Readings');
gyroPlot.plot.getAxisLabels().setYLabel('Angular Velocity (rad / sec)');
gyroPlot.plot.getAxisLabels().setXLabel('Monotonic Reading Time (sec)');
@@ -57,14 +57,14 @@
const gyroZ = gyroPlot.addMessageLine(imu, ['gyro_z']);
gyroZ.setColor([0, 0, 1]);
- const tempPlot = aosPlotter.addPlot(element, [0, height * 2], [width, height / 2]);
+ const tempPlot = aosPlotter.addPlot(element, [width, height / 2]);
tempPlot.plot.getAxisLabels().setTitle('IMU Temperature');
tempPlot.plot.getAxisLabels().setYLabel('Temperature (deg C)');
tempPlot.plot.getAxisLabels().setXLabel('Monotonic Reading Time (sec)');
tempPlot.addMessageLine(imu, ['temperature']);
- const statePlot = aosPlotter.addPlot(element, [0, height * 2.5], [width, height / 2]);
+ const statePlot = aosPlotter.addPlot(element, [width, height / 2]);
statePlot.plot.getAxisLabels().setTitle('IMU State');
statePlot.plot.getAxisLabels().setXLabel('Monotonic Sent Time (sec)');
statePlot.plot.setDefaultYRange([-0.1, 1.1]);
diff --git a/frc971/wpilib/joystick_sender.cc b/frc971/wpilib/joystick_sender.cc
index 5661933..fab3d05 100644
--- a/frc971/wpilib/joystick_sender.cc
+++ b/frc971/wpilib/joystick_sender.cc
@@ -111,7 +111,8 @@
}
joystick_state_builder.add_team_id(team_id_);
- if (!builder.Send(joystick_state_builder.Finish())) {
+ if (builder.Send(joystick_state_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(WARNING, "sending joystick_state failed\n");
}
});
diff --git a/frc971/wpilib/loop_output_handler_test.cc b/frc971/wpilib/loop_output_handler_test.cc
index fcbcbb5..0701bf5 100644
--- a/frc971/wpilib/loop_output_handler_test.cc
+++ b/frc971/wpilib/loop_output_handler_test.cc
@@ -97,7 +97,8 @@
LoopOutputHandlerTestOutput::Builder output_builder =
builder.MakeBuilder<LoopOutputHandlerTestOutput>();
output_builder.add_voltage(5.0);
- EXPECT_TRUE(builder.Send(output_builder.Finish()));
+ EXPECT_EQ(builder.Send(output_builder.Finish()),
+ aos::RawSender::Error::kOk);
++count;
}
diff --git a/frc971/wpilib/pdp_fetcher.cc b/frc971/wpilib/pdp_fetcher.cc
index 62e0e37..0526806 100644
--- a/frc971/wpilib/pdp_fetcher.cc
+++ b/frc971/wpilib/pdp_fetcher.cc
@@ -45,7 +45,7 @@
pdp_builder.add_power(pdp_->GetTotalPower());
pdp_builder.add_currents(currents_offset);
- if (!builder.Send(pdp_builder.Finish())) {
+ if (builder.Send(pdp_builder.Finish()) != aos::RawSender::Error::kOk) {
AOS_LOG(WARNING, "sending pdp values failed\n");
}
}
diff --git a/frc971/wpilib/sensor_reader.cc b/frc971/wpilib/sensor_reader.cc
index f476e71..6c47214 100644
--- a/frc971/wpilib/sensor_reader.cc
+++ b/frc971/wpilib/sensor_reader.cc
@@ -110,7 +110,7 @@
{
auto builder = robot_state_sender_.MakeBuilder();
- builder.Send(::frc971::wpilib::PopulateRobotState(&builder, my_pid_));
+ (void)builder.Send(::frc971::wpilib::PopulateRobotState(&builder, my_pid_));
}
RunIteration();
if (dma_synchronizer_) {
diff --git a/motors/RspBuckBoostv2/RspPiPS.pcb b/motors/RspBuckBoostv2/RspPiPS.pcb
new file mode 100644
index 0000000..7ce19c2
--- /dev/null
+++ b/motors/RspBuckBoostv2/RspPiPS.pcb
@@ -0,0 +1,2471 @@
+# release: pcb 4.0.2
+
+# To read pcb files, the pcb version (or the git source date) must be >= the file version
+FileVersion[20091103]
+
+PCB["RspPiPS" 10000.00mil 10000.00mil]
+
+Grid[1.00mil 0.0000 0.0000 0]
+PolyArea[3100.006200]
+Thermal[0.500000]
+DRC[10.00mil 5.00mil 10.00mil 8.00mil 15.00mil 8.00mil]
+Flags("showdrc,nameonpcb,autodrc,swapstartdir,snappin")
+Groups("1,c:4:5:2,s:6:3")
+Styles["Signal,15.00mil,36.00mil,20.00mil,10.00mil:Power,25.00mil,60.00mil,35.00mil,15.00mil:Fat,3.1700mm,60.00mil,35.00mil,10.00mil:Skinny,6.00mil,24.02mil,11.81mil,6.00mil"]
+
+Symbol[' ' 18.00mil]
+(
+)
+Symbol['!' 12.00mil]
+(
+ SymbolLine[0.0000 45.00mil 0.0000 50.00mil 8.00mil]
+ SymbolLine[0.0000 10.00mil 0.0000 35.00mil 8.00mil]
+)
+Symbol['"' 12.00mil]
+(
+ SymbolLine[0.0000 10.00mil 0.0000 20.00mil 8.00mil]
+ SymbolLine[10.00mil 10.00mil 10.00mil 20.00mil 8.00mil]
+)
+Symbol['#' 12.00mil]
+(
+ SymbolLine[0.0000 35.00mil 20.00mil 35.00mil 8.00mil]
+ SymbolLine[0.0000 25.00mil 20.00mil 25.00mil 8.00mil]
+ SymbolLine[15.00mil 20.00mil 15.00mil 40.00mil 8.00mil]
+ SymbolLine[5.00mil 20.00mil 5.00mil 40.00mil 8.00mil]
+)
+Symbol['$' 12.00mil]
+(
+ SymbolLine[15.00mil 15.00mil 20.00mil 20.00mil 8.00mil]
+ SymbolLine[5.00mil 15.00mil 15.00mil 15.00mil 8.00mil]
+ SymbolLine[0.0000 20.00mil 5.00mil 15.00mil 8.00mil]
+ SymbolLine[0.0000 20.00mil 0.0000 25.00mil 8.00mil]
+ SymbolLine[0.0000 25.00mil 5.00mil 30.00mil 8.00mil]
+ SymbolLine[5.00mil 30.00mil 15.00mil 30.00mil 8.00mil]
+ SymbolLine[15.00mil 30.00mil 20.00mil 35.00mil 8.00mil]
+ SymbolLine[20.00mil 35.00mil 20.00mil 40.00mil 8.00mil]
+ SymbolLine[15.00mil 45.00mil 20.00mil 40.00mil 8.00mil]
+ SymbolLine[5.00mil 45.00mil 15.00mil 45.00mil 8.00mil]
+ SymbolLine[0.0000 40.00mil 5.00mil 45.00mil 8.00mil]
+ SymbolLine[10.00mil 10.00mil 10.00mil 50.00mil 8.00mil]
+)
+Symbol['%' 12.00mil]
+(
+ SymbolLine[0.0000 15.00mil 0.0000 20.00mil 8.00mil]
+ SymbolLine[0.0000 15.00mil 5.00mil 10.00mil 8.00mil]
+ SymbolLine[5.00mil 10.00mil 10.00mil 10.00mil 8.00mil]
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+Symbol['3' 12.00mil]
+(
+ SymbolLine[0.0000 15.00mil 5.00mil 10.00mil 8.00mil]
+ SymbolLine[5.00mil 10.00mil 15.00mil 10.00mil 8.00mil]
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+ SymbolLine[20.00mil 33.00mil 15.00mil 28.00mil 8.00mil]
+ SymbolLine[20.00mil 23.00mil 15.00mil 28.00mil 8.00mil]
+)
+Symbol['4' 12.00mil]
+(
+ SymbolLine[0.0000 35.00mil 20.00mil 10.00mil 8.00mil]
+ SymbolLine[0.0000 35.00mil 25.00mil 35.00mil 8.00mil]
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+)
+Symbol['5' 12.00mil]
+(
+ SymbolLine[0.0000 10.00mil 20.00mil 10.00mil 8.00mil]
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+ SymbolLine[5.00mil 50.00mil 15.00mil 50.00mil 8.00mil]
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+)
+Symbol['6' 12.00mil]
+(
+ SymbolLine[15.00mil 10.00mil 20.00mil 15.00mil 8.00mil]
+ SymbolLine[5.00mil 10.00mil 15.00mil 10.00mil 8.00mil]
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+ Line[110.6700mm 74.0020mm 108.2790mm 74.0020mm 15.00mil 20.00mil "clearline"]
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+ Line[3887.00mil 2594.00mil 3844.00mil 2594.00mil 15.00mil 20.00mil "clearline"]
+ Line[97.8965mm 71.3351mm 98.4639mm 71.3351mm 15.00mil 20.00mil "clearline"]
+ Line[98.4639mm 71.3351mm 3919.00mil 2766.00mil 15.00mil 20.00mil "clearline"]
+ Line[3918.00mil 2977.00mil 3879.00mil 3016.00mil 15.00mil 20.00mil "clearline"]
+ Line[3879.00mil 3016.00mil 3840.00mil 3016.00mil 15.00mil 20.00mil "clearline"]
+ Line[3920.00mil 2710.00mil 98.4689mm 67.7349mm 15.00mil 20.00mil ""]
+ Line[98.4689mm 67.7349mm 97.5965mm 67.7349mm 15.00mil 20.00mil "clearline"]
+ Line[97.5965mm 78.4349mm 98.5263mm 78.4349mm 15.00mil 20.00mil "clearline"]
+ Line[98.5263mm 78.4349mm 3919.00mil 3128.00mil 15.00mil 20.00mil ""]
+ Line[3920.00mil 2918.00mil 98.5857mm 73.1349mm 15.00mil 20.00mil ""]
+ Line[98.5857mm 73.1349mm 97.8965mm 73.1349mm 15.00mil 20.00mil "clearline"]
+ Line[3842.00mil 78.4349mm 3842.00mil 3173.00mil 45.00mil 20.00mil ""]
+ Line[3918.50mil 2976.50mil 3877.00mil 3018.00mil 45.00mil 20.00mil "clearline"]
+ Line[3877.00mil 3018.00mil 3844.00mil 3018.00mil 45.00mil 20.00mil "clearline"]
+ Line[3918.00mil 2977.00mil 3950.00mil 2977.00mil 45.00mil 20.00mil "clearline"]
+ Line[3950.00mil 2977.00mil 3972.00mil 2955.00mil 45.00mil 20.00mil "clearline"]
+ Line[2647.00mil 2432.00mil 2729.00mil 2514.00mil 15.00mil 20.00mil "clearline"]
+ Line[2729.00mil 2514.00mil 3098.00mil 2514.00mil 15.00mil 20.00mil "clearline"]
+ Polygon("clearpoly")
+ (
+ [1915.00mil 2280.00mil] [1915.00mil 2420.00mil] [1950.00mil 2455.00mil] [1950.00mil 2595.00mil] [1660.00mil 2595.00mil]
+ [1660.00mil 2280.00mil]
+ )
+ Polygon("clearpoly")
+ (
+ [118.7210mm 57.8850mm] [3700.00mil 2280.00mil] [1970.00mil 2280.00mil] [1970.00mil 2620.00mil] [1450.00mil 2620.00mil]
+ [1450.00mil 4160.00mil] [1710.00mil 4160.00mil] [1710.00mil 4420.00mil] [3690.00mil 4420.00mil] [3690.00mil 4240.00mil]
+ [3770.00mil 4160.00mil] [4220.00mil 4160.00mil] [4220.00mil 3390.00mil] [4670.00mil 3390.00mil] [4670.00mil 2590.00mil]
+ )
+)
+Layer(3 "mechanical" "copper")
+(
+ Line[36.0000mm 53.0000mm 36.0000mm 119.5000mm 10.00mil 20.00mil "clearline"]
+ Line[33.0000mm 57.0000mm 129.5000mm 57.0000mm 10.00mil 20.00mil "clearline"]
+ Line[36.0000mm 110.0000mm 34.0000mm 110.0000mm 6.00mil 12.00mil "clearline"]
+ Line[121.0000mm 60.0000mm 123.5000mm 60.0000mm 6.00mil 12.00mil "clearline"]
+ Line[121.0000mm 110.0000mm 124.5000mm 110.0000mm 6.00mil 12.00mil "clearline"]
+ Line[39.5000mm 109.5000mm 39.5000mm 116.5000mm 6.00mil 12.00mil "clearline"]
+ Line[39.5000mm 109.5000mm 32.0000mm 109.5000mm 6.00mil 12.00mil "clearline"]
+ Line[36.0000mm 118.5000mm 36.5000mm 118.0000mm 6.00mil 12.00mil "clearline"]
+ Line[36.0000mm 118.5000mm 36.5000mm 119.0000mm 6.00mil 12.00mil "clearline"]
+ Line[30.5000mm 113.0000mm 129.5000mm 113.0000mm 10.00mil 20.00mil "clearline"]
+ Line[97.5000mm 109.5000mm 97.5000mm 116.5000mm 6.00mil 12.00mil "clearline"]
+ Line[39.5000mm 60.5000mm 33.0000mm 60.5000mm 6.00mil 12.00mil "clearline"]
+ Line[1747.00mil 2432.00mil 44.1466mm 62.0000mm 6.00mil 12.00mil "clearline"]
+ Line[1747.00mil 2432.00mil 32.7728mm 2432.00mil 6.00mil 12.00mil "clearline"]
+ Line[121.0012mm 53.4270mm 121.0012mm 119.9270mm 10.00mil 20.00mil "clearline"]
+ Text[38.0000mm 116.5000mm 0 100 "3.5mm" "clearline"]
+ Text[34.5000mm 120.0000mm 0 100 "0mm" "clearline"]
+ Text[27.0000mm 112.5000mm 0 100 "0mm" "clearline"]
+ Text[96.0000mm 116.5000mm 0 100 "61.5mm" "clearline"]
+ Text[27.5000mm 109.0000mm 0 100 "3.5mm" "clearline"]
+ Text[27.5000mm 56.5000mm 0 100 "56.0mm" "clearline"]
+ Text[27.5000mm 59.5000mm 0 100 "52.5mm" "clearline"]
+ Text[4698.00mil 4739.00mil 0 98 "85mm" "clearline"]
+)
+Layer(4 "ground" "copper")
+(
+)
+Layer(5 "power" "copper")
+(
+)
+Layer(6 "outline" "copper")
+(
+ Line[36.0000mm 60.0000mm 36.0000mm 110.0000mm 6.00mil 12.00mil "clearline"]
+ Line[39.0000mm 113.0000mm 118.0000mm 113.0000mm 6.00mil 12.00mil "clearline"]
+ Line[121.0000mm 110.0000mm 121.0000mm 60.0000mm 6.00mil 12.00mil "clearline"]
+ Line[118.0000mm 57.0000mm 39.0000mm 57.0000mm 6.00mil 12.00mil "clearline"]
+ Arc[39.0000mm 60.0000mm 3.0000mm 3.0000mm 6.00mil 12.00mil 0 -90 "clearline"]
+ Arc[118.0000mm 60.0000mm 3.0000mm 3.0000mm 6.00mil 12.00mil -90 -90 "clearline"]
+ Arc[118.0000mm 110.0000mm 3.0000mm 3.0000mm 6.00mil 12.00mil 180 -90 "clearline"]
+ Arc[39.0000mm 110.0000mm 3.0000mm 3.0000mm 6.00mil 12.00mil 0 90 "clearline"]
+)
+Layer(7 "bottom silk" "silk")
+(
+ Text[4251.00mil 3616.00mil 2 100 "COM" "clearline,onsolder"]
+ Text[4267.00mil 3770.00mil 2 100 "V_IN" "clearline,onsolder"]
+)
+Layer(8 "top silk" "silk")
+(
+ Line[3455.00mil 4390.00mil 3455.00mil 4065.00mil 6.00mil 12.00mil "found,clearline"]
+ Line[3455.00mil 4065.00mil 3435.00mil 4085.00mil 6.00mil 12.00mil "found,clearline"]
+ Line[3455.00mil 4065.00mil 3475.00mil 4085.00mil 6.00mil 12.00mil "found,clearline"]
+ Line[2345.00mil 2710.00mil 2405.00mil 2710.00mil 10.00mil 20.00mil "clearline"]
+ Line[69.5666mm 77.3662mm 71.0906mm 77.3662mm 10.00mil 20.00mil "clearline"]
+ Line[115.8730mm 102.3768mm 115.8730mm 98.8768mm 6.00mil 12.00mil "clearline"]
+ Line[115.8730mm 98.8768mm 115.3730mm 99.3768mm 6.00mil 12.00mil "clearline"]
+ Line[115.8730mm 98.8768mm 116.3730mm 99.3768mm 6.00mil 12.00mil "clearline"]
+ Text[2305.00mil 3940.00mil 0 100 "+" "clearline"]
+ Text[2660.00mil 3785.00mil 0 100 "+" "clearline"]
+ Text[2915.00mil 4010.00mil 0 100 "+" "clearline"]
+ Text[4062.00mil 3353.00mil 0 100 "+" "clearline"]
+ Text[1925.00mil 2875.00mil 0 100 "+" "clearline"]
+ Text[1710.00mil 4100.00mil 0 100 "V_MID" "clearline"]
+ Text[1540.00mil 4095.00mil 0 100 "COM" "clearline"]
+ Text[1730.00mil 2650.00mil 0 100 "+5V" "clearline"]
+ Text[58.9285mm 72.7982mm 0 100 "+5V" "clearline"]
+ Text[44.5590mm 109.5840mm 0 100 "REV 2" "clearline"]
+ Text[44.4320mm 107.4250mm 0 100 "971 PI4 POWER" "clearline"]
+ Text[37.4750mm 67.2100mm 0 100 "COM" "clearline"]
+ Text[66.6272mm 74.3936mm 0 100 "V_MID" "clearline"]
+ Text[101.8060mm 96.1060mm 0 100 "V_IN" "clearline"]
+ Text[116.8060mm 100.6060mm 0 100 "V_IN" "clearline"]
+ Text[117.0030mm 98.6620mm 0 100 "COM" "clearline"]
+ Text[3473.00mil 2917.00mil 1 97 "U404" "clearline"]
+)
+NetList()
+(
+ Net("+3.3V" "(unknown)")
+ (
+ Connect("C401-2")
+ Connect("C402-2")
+ Connect("C403-2")
+ Connect("C404-2")
+ Connect("U401-1")
+ Connect("U402-1")
+ Connect("U403-1")
+ Connect("U404-2")
+ Connect("U404-4")
+ )
+ Net("+5V" "(unknown)")
+ (
+ Connect("C203-2")
+ Connect("C204-1")
+ Connect("C405-2")
+ Connect("J200-2")
+ Connect("J200-4")
+ Connect("J401-1")
+ Connect("J401-2")
+ Connect("L200-2")
+ Connect("R201-2")
+ Connect("TP201-1")
+ Connect("U200-6")
+ Connect("U404-3")
+ )
+ Net("+VMID" "(unknown)")
+ (
+ Connect("C106-2")
+ Connect("C107-2")
+ Connect("C108-1")
+ Connect("C109-1")
+ Connect("C200-1")
+ Connect("C201-2")
+ Connect("D102-4")
+ Connect("D103-4")
+ Connect("R101-1")
+ Connect("R107-2")
+ Connect("R200-2")
+ Connect("TP101-1")
+ Connect("U200-2")
+ )
+ Net("COM" "(unknown)")
+ (
+ Connect("C100-2")
+ Connect("C101-1")
+ Connect("C102-1")
+ Connect("C103-1")
+ Connect("C105-1")
+ Connect("C106-1")
+ Connect("C107-1")
+ Connect("C108-2")
+ Connect("C109-2")
+ Connect("C110-1")
+ Connect("C200-2")
+ Connect("C201-1")
+ Connect("C203-1")
+ Connect("C204-2")
+ Connect("C401-1")
+ Connect("C402-1")
+ Connect("C403-1")
+ Connect("C404-1")
+ Connect("C405-1")
+ Connect("D100-1")
+ Connect("D101-1")
+ Connect("D104-2")
+ Connect("D201-1")
+ Connect("D201-3")
+ Connect("D202-2")
+ Connect("J1-2")
+ Connect("J200-6")
+ Connect("J200-9")
+ Connect("J200-14")
+ Connect("J200-20")
+ Connect("J200-25")
+ Connect("J200-34")
+ Connect("J200-39")
+ Connect("J401-8")
+ Connect("J401-9")
+ Connect("R102-1")
+ Connect("R103-1")
+ Connect("R104-1")
+ Connect("R105-1")
+ Connect("R106-1")
+ Connect("TP102-1")
+ Connect("TP202-1")
+ Connect("U100-6")
+ Connect("U200-4")
+ Connect("U200-8")
+ Connect("U401-4")
+ Connect("U402-4")
+ Connect("U403-4")
+ Connect("U404-1")
+ )
+ Net("CS" "(unknown)")
+ (
+ Connect("J200-24")
+ Connect("U403-3")
+ )
+ Net("DR" "(unknown)")
+ (
+ Connect("J200-32")
+ Connect("U401-2")
+ )
+ Net("MISO" "(unknown)")
+ (
+ Connect("J200-21")
+ Connect("U402-2")
+ )
+ Net("MOSI" "(unknown)")
+ (
+ Connect("J200-19")
+ Connect("U401-3")
+ )
+ Net("SCK" "(unknown)")
+ (
+ Connect("J200-23")
+ Connect("U402-3")
+ )
+ Net("unnamed_net1" "(unknown)")
+ (
+ Connect("R105-2")
+ Connect("U100-4")
+ )
+ Net("unnamed_net2" "(unknown)")
+ (
+ Connect("C104-1")
+ Connect("R103-2")
+ )
+ Net("unnamed_net3" "(unknown)")
+ (
+ Connect("C103-2")
+ Connect("C104-2")
+ Connect("U100-2")
+ )
+ Net("unnamed_net4" "(unknown)")
+ (
+ Connect("C102-2")
+ Connect("D101-2")
+ Connect("R100-1")
+ Connect("R102-2")
+ Connect("U100-1")
+ )
+ Net("unnamed_net5" "(unknown)")
+ (
+ Connect("D103-1")
+ Connect("D103-3")
+ Connect("L100-2")
+ Connect("Q100-5")
+ Connect("Q100-6")
+ Connect("Q100-7")
+ Connect("Q100-8")
+ )
+ Net("unnamed_net6" "(unknown)")
+ (
+ Connect("Q100-1")
+ Connect("Q100-2")
+ Connect("Q100-3")
+ Connect("R106-2")
+ Connect("U100-10")
+ )
+ Net("unnamed_net7" "(unknown)")
+ (
+ Connect("Q100-4")
+ Connect("U100-7")
+ )
+ Net("unnamed_net8" "(unknown)")
+ (
+ Connect("R101-2")
+ Connect("R104-2")
+ Connect("U100-3")
+ )
+ Net("unnamed_net9" "(unknown)")
+ (
+ Connect("C105-2")
+ Connect("U100-5")
+ Connect("U100-8")
+ )
+ Net("unnamed_net10" "(unknown)")
+ (
+ Connect("D104-1")
+ Connect("R107-1")
+ )
+ Net("unnamed_net11" "(unknown)")
+ (
+ Connect("C202-1")
+ Connect("D201-4")
+ Connect("L200-1")
+ Connect("U200-1")
+ )
+ Net("unnamed_net12" "(unknown)")
+ (
+ Connect("C202-2")
+ Connect("U200-3")
+ )
+ Net("unnamed_net13" "(unknown)")
+ (
+ Connect("R200-1")
+ Connect("U200-7")
+ )
+ Net("unnamed_net14" "(unknown)")
+ (
+ Connect("D202-1")
+ Connect("R201-1")
+ )
+ Net("unnamed_net15" "(unknown)")
+ (
+ Connect("J401-3")
+ Connect("R401-2")
+ Connect("U401-8")
+ )
+ Net("unnamed_net16" "(unknown)")
+ (
+ Connect("J401-10")
+ Connect("R401-1")
+ Connect("U401-7")
+ )
+ Net("unnamed_net17" "(unknown)")
+ (
+ Connect("J401-5")
+ Connect("R402-2")
+ Connect("U402-8")
+ )
+ Net("unnamed_net18" "(unknown)")
+ (
+ Connect("J401-12")
+ Connect("R402-1")
+ Connect("U402-7")
+ )
+ Net("unnamed_net19" "(unknown)")
+ (
+ Connect("J401-11")
+ Connect("U401-6")
+ )
+ Net("unnamed_net20" "(unknown)")
+ (
+ Connect("J401-4")
+ Connect("U401-5")
+ )
+ Net("unnamed_net21" "(unknown)")
+ (
+ Connect("J401-13")
+ Connect("U402-6")
+ )
+ Net("unnamed_net22" "(unknown)")
+ (
+ Connect("J401-14")
+ Connect("U403-6")
+ )
+ Net("unnamed_net23" "(unknown)")
+ (
+ Connect("J401-6")
+ Connect("U402-5")
+ )
+ Net("unnamed_net24" "(unknown)")
+ (
+ Connect("J401-7")
+ Connect("U403-5")
+ )
+ Net("V_IN" "(unknown)")
+ (
+ Connect("C100-1")
+ Connect("C101-2")
+ Connect("C110-2")
+ Connect("D100-2")
+ Connect("D102-1")
+ Connect("D102-3")
+ Connect("J1-1")
+ Connect("L100-1")
+ Connect("R100-2")
+ Connect("TP100-1")
+ Connect("U100-9")
+ )
+)
diff --git a/motors/RspBuckBoostv2/RspPiPs.gsch2pcb b/motors/RspBuckBoostv2/RspPiPs.gsch2pcb
new file mode 100644
index 0000000..541dd65
--- /dev/null
+++ b/motors/RspBuckBoostv2/RspPiPs.gsch2pcb
@@ -0,0 +1,3 @@
+schematics rspBoost.sch rspBuck-2.sch rspIMU.sch
+output-name RspPiPS
+use-files
diff --git a/motors/RspBuckBoostv2/gafrc b/motors/RspBuckBoostv2/gafrc
new file mode 100644
index 0000000..c1bfff0
--- /dev/null
+++ b/motors/RspBuckBoostv2/gafrc
@@ -0,0 +1,2 @@
+(component-library "../symbols" "Custom Symbols")
+(source-library "..")
diff --git a/motors/RspBuckBoostv2/packages b/motors/RspBuckBoostv2/packages
new file mode 120000
index 0000000..a16c405
--- /dev/null
+++ b/motors/RspBuckBoostv2/packages
@@ -0,0 +1 @@
+../packages
\ No newline at end of file
diff --git a/motors/RspBuckBoostv2/rspBoost.sch b/motors/RspBuckBoostv2/rspBoost.sch
new file mode 100644
index 0000000..804156f
--- /dev/null
+++ b/motors/RspBuckBoostv2/rspBoost.sch
@@ -0,0 +1,686 @@
+v 20130925 2
+C 40000 40000 0 0 0 title-B.sym
+C 47300 42500 1 90 0 resistor-1.sym
+{
+T 46900 42800 5 10 0 0 90 0 1
+device=RESISTOR
+T 47100 42600 5 10 1 1 90 0 1
+refdes=R105
+T 47100 43000 5 10 0 1 90 0 1
+footprint=0805
+T 47500 42500 5 10 1 1 90 0 1
+value=80.6k 1%
+T 47300 42500 5 10 0 0 0 0 1
+pn=RC0805FR-0780K6L
+T 47300 42500 5 10 0 0 0 0 1
+mfg=Yageo
+}
+N 47200 43400 47200 43500 4
+N 47200 43500 47500 43500 4
+N 46300 44100 47500 44100 4
+C 45600 42500 1 90 0 resistor-1.sym
+{
+T 45200 42800 5 10 0 0 90 0 1
+device=RESISTOR
+T 45400 42600 5 10 1 1 90 0 1
+refdes=R103
+T 45400 43000 5 10 0 1 90 0 1
+footprint=0805
+T 45800 42600 5 10 1 1 90 0 1
+value=22.0k 1%
+T 45600 42500 5 10 0 0 0 0 1
+pn=RC0805FR-0722KL
+T 45600 42500 5 10 0 0 0 0 1
+mfg=Yageo
+}
+C 45700 43400 1 90 0 capacitor-1.sym
+{
+T 45000 43600 5 10 0 0 90 0 1
+device=CAPACITOR
+T 45900 43700 5 10 1 1 90 0 1
+refdes=C104
+T 44800 43600 5 10 0 0 90 0 1
+symversion=0.1
+T 45700 43400 5 10 0 0 0 0 1
+footprint=0805
+T 45300 43400 5 10 1 1 90 0 1
+value=6.8nF 10%
+T 45700 43400 5 10 0 0 0 0 1
+pn=C0805C682K5RACTU
+T 45700 43400 5 10 0 0 0 0 1
+mfg=Kemet
+}
+N 45500 44300 45500 44400 4
+N 44800 44400 47500 44400 4
+C 45000 42900 1 90 0 capacitor-1.sym
+{
+T 44300 43100 5 10 0 0 90 0 1
+device=CAPACITOR
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+}
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+}
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+}
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+}
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+}
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+{
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+}
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+T 52000 45200 5 10 0 0 0 0 1
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+}
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+}
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+{
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+}
+T 50500 40700 9 10 1 0 0 0 1
+Raspberry PI 4B Boost Converter
+T 54000 40100 9 10 1 0 0 0 1
+Scott Berman
+T 41900 40700 9 10 1 0 0 0 4
+Boost converter for supplying power to
+Raspberry PI 4B. Output Voltage set to 10V.
+2A. Input range 4.5V to 20V. Boost active
+4.5V to 10V.
+T 41900 40200 9 10 1 0 0 0 1
+Switching frequency: 300 kHz
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+}
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+{
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+}
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+}
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+{
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+}
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+{
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+}
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+}
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+}
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+}
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+T 45000 43000 5 10 0 1 0 0 1
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+}
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+{
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+net=V_IN:1
+}
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+{
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+}
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+}
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+}
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+}
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+}
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+}
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+}
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+}
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+}
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+T 41700 43400 5 10 0 0 0 0 1
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+T 41700 43400 5 10 0 0 0 0 1
+mfg=Murata
+}
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+}
+N 41500 43400 41500 42500 4
+N 41500 44300 41500 46200 4
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+T 42200 47250 5 10 0 0 0 0 1
+device=CONNECTOR_1
+T 42200 47450 5 10 0 0 0 0 1
+footprint=Pad80d40
+}
+C 53800 47800 1 0 0 connector1-2.sym
+{
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+refdes=TP101
+T 54100 48650 5 10 0 0 0 0 1
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+}
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+N 53800 48200 53400 48200 4
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+T 43200 48100 5 10 0 0 0 0 1
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+T 43200 48100 5 10 0 0 0 0 1
+mfg=Kemet
+}
+C 43200 48100 1 180 0 generic-power.sym
+{
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+}
+N 43000 49000 43000 50100 4
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+{
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+T 52100 50550 5 10 0 0 0 0 1
+device=CONNECTOR_1
+T 52100 50750 5 10 0 0 0 0 1
+footprint=Pad80d40
+}
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+{
+T 51400 48450 5 10 1 1 180 3 1
+net=COM:1
+}
+N 51400 48700 51400 50100 4
+N 51400 50100 51800 50100 4
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+{
+T 56100 49700 5 10 0 0 270 0 1
+device=LED
+T 55500 49800 5 10 0 0 0 0 1
+footprint=0805
+T 55500 49800 5 10 0 0 0 0 1
+pn=LG R971-KN-1
+T 55500 49800 5 10 0 0 0 0 1
+mfg=OSRAM
+T 55700 49500 5 10 1 1 0 0 1
+refdes=D104
+}
+C 55300 50200 1 180 0 resistor-1.sym
+{
+T 55000 49800 5 10 0 0 180 0 1
+device=RESISTOR
+T 54800 50000 5 10 0 1 180 0 1
+footprint=0805
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+mfg=Yageo
+T 55200 50000 5 10 1 1 180 0 1
+refdes=R107
+T 55200 50400 5 10 1 1 180 0 1
+value=2.00k 1%
+}
+C 55800 48900 1 180 0 generic-power.sym
+{
+T 55600 48650 5 10 1 1 180 3 1
+net=COM:1
+}
+N 55300 50100 55600 50100 4
+N 55600 50100 55600 49800 4
+C 53700 50100 1 0 0 generic-power.sym
+{
+T 53900 50350 5 10 1 1 0 3 1
+net=+VMID:1
+}
+N 53900 50100 54400 50100 4
+C 41000 49600 1 0 0 connector2-1.sym
+{
+T 41200 50600 5 10 0 0 0 0 1
+device=CONNECTOR_2
+T 41000 50400 5 10 1 1 0 0 1
+refdes=J1
+T 41000 49600 5 10 0 0 0 0 1
+footprint=1824420000
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+}
diff --git a/motors/RspBuckBoostv2/rspBuck-2.sch b/motors/RspBuckBoostv2/rspBuck-2.sch
new file mode 100644
index 0000000..300dad6
--- /dev/null
+++ b/motors/RspBuckBoostv2/rspBuck-2.sch
@@ -0,0 +1,367 @@
+v 20130925 2
+C 40000 40000 0 0 0 title-B.sym
+C 44700 46400 1 0 0 LM2678S-5.0.sym
+{
+T 37000 51000 5 10 0 1 0 0 1
+footprint=TO263-7
+T 45400 47600 5 10 1 1 0 0 1
+device=LM2678S
+T 46200 47800 5 10 1 1 0 0 1
+refdes=U200
+T 44700 46400 5 10 0 0 0 0 1
+pn=LM2678S-5.0
+T 44700 46400 5 10 0 0 0 0 1
+mfg=Texas Instruments
+}
+C 41900 46700 1 270 0 capacitor-2.sym
+{
+T 42600 46500 5 10 0 0 270 0 1
+device=POLARIZED_CAPACITOR
+T 42000 46800 5 10 1 1 180 0 1
+refdes=C200
+T 42800 46500 5 10 0 0 270 0 1
+symversion=0.1
+T 41900 45800 5 10 1 1 90 0 1
+value=68uF 25V
+T 41900 46700 5 10 0 0 0 0 1
+footprint=CAP8
+T 41900 46700 5 10 0 0 0 0 1
+pn=870025574003
+T 41900 46700 5 10 0 0 0 0 1
+mfg=Wurth Electronik
+}
+C 50000 46600 1 270 0 capacitor-2.sym
+{
+T 50700 46400 5 10 0 0 270 0 1
+device=POLARIZED_CAPACITOR
+T 50900 46200 5 10 1 1 180 0 1
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+T 50900 46400 5 10 0 0 270 0 1
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+value=330uF 16V
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+footprint=CAP8
+T 50000 46600 5 10 0 0 0 0 1
+pn=RL81C331MDN1KX
+T 50000 46600 5 10 0 0 0 0 1
+mfg=Nichicon
+}
+C 48200 46800 1 0 0 inductor-1.sym
+{
+T 48400 47300 5 10 0 0 0 0 1
+device=INDUCTOR
+T 48600 47100 5 10 1 1 0 0 1
+refdes=L200
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+T 48200 46800 5 10 0 0 0 0 1
+pn=7443551131
+T 48200 46800 5 10 0 0 0 0 1
+mfg=Wurth Electronik
+}
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+{
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+pn=GMK212BJ104KGHT
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+mfg=Taiyo Yuden
+}
+C 48000 47400 1 180 0 capacitor-1.sym
+{
+T 47800 46700 5 10 0 0 180 0 1
+device=CAPACITOR
+T 47400 47400 5 10 1 1 180 0 1
+refdes=C202
+T 47800 46500 5 10 0 0 180 0 1
+symversion=0.1
+T 48000 47400 5 10 0 0 90 0 1
+footprint=0805
+T 48500 47400 5 10 1 1 180 0 1
+value=10nF 10%
+T 48000 47400 5 10 0 0 90 0 1
+pn=C0805C103K3RACTU
+T 48000 47400 5 10 0 0 90 0 1
+mfg=Kemet
+}
+C 40800 47700 1 0 0 generic-power.sym
+{
+T 41000 47950 5 10 1 1 0 3 1
+net=+VMID:1
+}
+C 42300 45800 1 180 0 generic-power.sym
+{
+T 42100 45550 5 10 1 1 180 3 1
+net=COM:1
+}
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+{
+T 44000 46600 5 10 0 0 180 0 1
+device=RESISTOR
+T 43800 46800 5 10 0 1 180 0 1
+footprint=0805
+T 44200 46800 5 10 1 1 180 0 1
+refdes=R200
+T 44200 47200 5 10 1 1 180 0 1
+value=10.0k 1%
+T 44300 47000 5 10 0 0 90 0 1
+pn=RC0805FR-0710KL
+T 44300 47000 5 10 0 0 90 0 1
+mfg=Yageo
+}
+N 43400 46900 43100 46900 4
+N 44300 46900 44700 46900 4
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+T 48800 45900 5 10 0 0 90 0 1
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+T 49300 45800 5 10 1 1 0 0 1
+refdes=C203
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+symversion=0.1
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+pn=GMK212BJ104KGHT
+T 49500 45700 5 10 0 0 0 0 1
+mfg=Taiyo Yuden
+}
+N 49300 46600 49300 46900 4
+C 51300 46900 1 0 0 generic-power.sym
+{
+T 51500 47150 5 10 1 1 0 3 1
+net=+5V:1
+}
+T 50400 40700 9 10 1 0 0 0 1
+Raspberry PI 4B Buck Converter
+T 53900 40100 9 10 1 0 0 0 1
+Scott Berman
+T 45800 40900 9 10 1 0 0 0 3
+Buck converter for supplying power to
+Raspberry PI 4B. Output Voltage set to 5V.
+4A. Input range 9V to 20V.
+T 46500 40300 9 10 1 0 0 0 1
+Switching frequency: 260 kHz
+C 53400 42200 1 0 0 header40-2.sym
+{
+T 53650 50700 5 10 0 1 0 0 1
+device=HEADER40
+T 54000 50300 5 10 1 1 0 0 1
+refdes=J200
+T 53400 42200 5 10 0 0 0 0 1
+footprint=HEADER40_2
+T 53400 42200 5 10 1 0 0 0 1
+pn=ESQ-120-44-T-D
+}
+C 55000 50100 1 0 0 generic-power.sym
+{
+T 55200 50350 5 10 1 1 0 3 1
+net=+5V:1
+}
+N 55200 49600 55200 50100 4
+N 55200 50000 54800 50000 4
+N 55200 49600 54800 49600 4
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+{
+T 55400 41950 5 10 1 1 180 3 1
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+}
+C 53000 42200 1 180 0 generic-power.sym
+{
+T 52800 41950 5 10 1 1 180 3 1
+net=COM:1
+}
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+}
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+{
+T 45800 45550 5 10 1 1 180 3 1
+net=COM:1
+}
+C 49500 45700 1 180 0 generic-power.sym
+{
+T 49300 45450 5 10 1 1 180 3 1
+net=COM:1
+}
+C 50400 45700 1 180 0 generic-power.sym
+{
+T 50200 45450 5 10 1 1 180 3 1
+net=COM:1
+}
+C 56400 44100 1 180 0 input-1.sym
+{
+T 56400 43800 5 10 0 0 180 0 1
+device=INPUT
+T 55900 43900 5 10 1 1 0 0 1
+net=DR:1
+}
+C 47600 45800 1 90 0 MBRB4030G-1.sym
+{
+T 46500 47000 5 10 0 0 90 0 1
+device=V35PW60-M3/I
+T 47000 46100 5 10 1 1 90 0 1
+refdes=D201
+T 47050 46295 5 10 0 1 90 0 1
+footprint=TO252AE
+T 47750 45595 5 10 1 1 90 0 1
+value=V35PW60-M3/I
+T 47600 45800 5 10 0 0 90 0 1
+pn=V35PW60-M3/I
+T 47600 45800 5 10 0 0 90 0 1
+mfg=Vishay
+}
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+{
+T 47300 45550 5 10 1 1 180 3 1
+net=COM:1
+}
+N 47300 46700 47300 46900 4
+N 47500 45800 47300 45800 4
+C 51000 47700 1 0 0 connector1-2.sym
+{
+T 51700 48600 5 10 1 1 0 6 1
+refdes=TP201
+T 51300 48550 5 10 0 0 0 0 1
+device=CONNECTOR_1
+T 51300 48750 5 10 0 0 0 0 1
+footprint=Pad80d40
+}
+C 51200 44500 1 180 0 generic-power.sym
+{
+T 51000 44250 5 10 1 1 180 3 1
+net=COM:1
+}
+N 51000 48100 50700 48100 4
+N 50700 48100 50700 46900 4
+C 51200 44200 1 0 0 connector1-2.sym
+{
+T 51900 45100 5 10 1 1 0 6 1
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+T 51500 45250 5 10 0 0 0 0 1
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+}
+N 51000 44500 51000 44600 4
+N 51000 44600 51200 44600 4
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+{
+T 49000 43400 5 10 1 1 0 0 1
+refdes=D202
+T 49400 43600 5 10 0 0 270 0 1
+device=LED
+T 48800 43700 5 10 0 0 0 0 1
+footprint=0805
+T 48800 43700 5 10 0 0 0 0 1
+pn=LG R971-KN-1
+T 48800 43700 5 10 0 0 0 0 1
+mfg=OSRAM
+}
+C 48600 44100 1 180 0 resistor-1.sym
+{
+T 48300 43700 5 10 0 0 180 0 1
+device=RESISTOR
+T 48100 43900 5 10 0 1 180 0 1
+footprint=0805
+T 48500 43900 5 10 1 1 180 0 1
+refdes=R201
+T 48500 44300 5 10 1 1 180 0 1
+value=499R 1%
+T 48600 44100 5 10 0 0 90 0 1
+pn=RC0805FR-07499RL
+T 48600 44100 5 10 0 0 90 0 1
+mfg=Yageo
+}
+C 49100 42800 1 180 0 generic-power.sym
+{
+T 48900 42550 5 10 1 1 180 3 1
+net=COM:1
+}
+C 47000 44100 1 0 0 generic-power.sym
+{
+T 47200 44350 5 10 1 1 0 3 1
+net=+5V:1
+}
+N 47200 44100 47200 44000 4
+N 47200 44000 47700 44000 4
+N 48600 44000 48900 44000 4
+N 48900 44000 48900 43700 4
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+{
+T 52500 45400 5 10 0 0 180 0 1
+device=OUTPUT
+T 52400 45700 5 10 1 1 180 0 1
+net=SCK:1
+}
+C 52600 46500 1 180 0 output-1.sym
+{
+T 52500 46200 5 10 0 0 180 0 1
+device=OUTPUT
+T 52400 46500 5 10 1 1 180 0 1
+net=MOSI:1
+}
+C 51800 45900 1 0 0 input-1.sym
+{
+T 51800 46200 5 10 0 0 0 0 1
+device=INPUT
+T 52300 46100 5 10 1 1 180 0 1
+net=MISO:1
+}
+N 55600 45600 54800 45600 4
+{
+T 55600 45600 5 10 1 0 0 0 1
+net=CS
+}
+N 55600 44000 54800 44000 4
+N 52600 45600 53400 45600 4
+N 52600 46400 53400 46400 4
+N 52600 46000 53400 46000 4
+C 56400 45700 1 180 0 input-1.sym
+{
+T 56400 45400 5 10 0 0 180 0 1
+device=INPUT
+T 55900 45500 5 10 1 1 0 0 1
+net=CS:1
+}
diff --git a/motors/RspBuckBoostv2/rspIMU.sch b/motors/RspBuckBoostv2/rspIMU.sch
new file mode 100644
index 0000000..9fc83fb
--- /dev/null
+++ b/motors/RspBuckBoostv2/rspIMU.sch
@@ -0,0 +1,343 @@
+v 20130925 2
+C 40000 40000 0 0 0 title-B.sym
+C 49900 49100 1 90 0 resistor-1.sym
+{
+T 49500 49400 5 10 0 0 90 0 1
+device=RESISTOR
+T 49600 49300 5 10 1 1 90 0 1
+refdes=R401
+T 49900 49200 5 10 1 1 0 0 1
+value=120R
+T 49900 49100 5 10 1 0 0 0 1
+footprint=0805
+T 49900 49100 5 10 1 0 0 0 1
+pn=ESR10EZPF1200
+}
+C 49900 46600 1 90 0 resistor-1.sym
+{
+T 49500 46900 5 10 0 0 90 0 1
+device=RESISTOR
+T 49600 46800 5 10 1 1 90 0 1
+refdes=R402
+T 49900 46700 5 10 1 1 0 0 1
+value=120R
+T 49900 46600 5 10 1 0 0 0 1
+footprint=0805
+T 49900 46600 5 10 1 0 0 0 1
+pn=ESR10EZPF1200
+}
+C 55000 44600 1 0 0 microfit-rt-2x7.sym
+{
+T 55700 47200 5 10 0 0 0 0 1
+device=CONNECTOR_15
+T 53909 43100 5 10 0 1 0 0 1
+footprint=0430451400
+T 56200 48900 5 10 1 1 0 0 1
+refdes=J401
+T 55000 44600 5 10 1 0 0 0 1
+pn=0430451400
+}
+N 55000 44700 51800 44700 4
+N 51800 43400 51800 44700 4
+N 51800 43400 48200 43400 4
+N 55000 45000 51500 45000 4
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+N 54000 47400 55000 47400 4
+N 54000 47400 54000 50000 4
+N 49300 50000 54000 50000 4
+N 49300 50000 49300 49400 4
+N 49300 49400 48200 49400 4
+C 54100 48800 1 0 0 generic-power.sym
+{
+T 54300 49050 5 10 1 1 0 3 1
+net=+5V:1
+}
+C 54500 47900 1 180 0 generic-power.sym
+{
+T 54300 47650 5 10 1 1 180 3 1
+net=COM:1
+}
+N 55000 48300 54300 48300 4
+N 54300 48300 54300 47900 4
+N 55000 47700 54600 47700 4
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+N 55000 48600 54300 48600 4
+N 54300 48600 54300 48800 4
+N 55000 48000 54800 48000 4
+N 54800 48000 54800 48600 4
+C 46000 47800 1 90 0 capacitor-1.sym
+{
+T 45300 48000 5 10 0 0 90 0 1
+device=CAPACITOR
+T 45100 48000 5 10 0 0 90 0 1
+symversion=0.1
+T 46000 47800 5 10 0 0 0 0 1
+footprint=0805
+T 46000 47800 5 10 0 0 0 0 1
+pn=GMK212BJ104KGHT
+T 46000 47800 5 10 0 0 0 0 1
+mfg=Taiyo Yuden
+T 46300 48600 5 10 1 1 180 0 1
+refdes=C401
+T 45600 47800 5 10 1 1 90 0 1
+value=0.1uF 10%
+}
+C 46000 42800 1 90 0 capacitor-1.sym
+{
+T 45300 43000 5 10 0 0 90 0 1
+device=CAPACITOR
+T 45100 43000 5 10 0 0 90 0 1
+symversion=0.1
+T 46000 42800 5 10 0 0 0 0 1
+footprint=0805
+T 46000 42800 5 10 0 0 0 0 1
+pn=GMK212BJ104KGHT
+T 46000 42800 5 10 0 0 0 0 1
+mfg=Taiyo Yuden
+T 46300 43600 5 10 1 1 180 0 1
+refdes=C403
+T 45600 42800 5 10 1 1 90 0 1
+value=0.1uF 10%
+}
+C 46000 45300 1 90 0 capacitor-1.sym
+{
+T 45300 45500 5 10 0 0 90 0 1
+device=CAPACITOR
+T 45100 45500 5 10 0 0 90 0 1
+symversion=0.1
+T 46000 45300 5 10 0 0 0 0 1
+footprint=0805
+T 46000 45300 5 10 0 0 0 0 1
+pn=GMK212BJ104KGHT
+T 46000 45300 5 10 0 0 0 0 1
+mfg=Taiyo Yuden
+T 46300 46100 5 10 1 1 180 0 1
+refdes=C402
+T 45600 45300 5 10 1 1 90 0 1
+value=0.1uF 10%
+}
+C 46000 45300 1 180 0 generic-power.sym
+{
+T 45800 45050 5 10 1 1 180 3 1
+net=COM:1
+}
+C 46000 42800 1 180 0 generic-power.sym
+{
+T 45800 42550 5 10 1 1 180 3 1
+net=COM:1
+}
+C 46000 47800 1 180 0 generic-power.sym
+{
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+net=COM:1
+}
+N 46600 45900 46300 45900 4
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+N 46600 48400 46300 48400 4
+N 46300 48400 46300 47800 4
+N 46300 47800 45800 47800 4
+C 41500 42000 1 0 0 AZ1117IH-3-3TRG1.sym
+{
+T 41500 42000 5 10 1 1 0 0 1
+refdes=U404
+T 41600 43000 5 10 1 1 0 0 1
+value=AZ1117IH-3.3TRG1
+T 42400 42000 5 10 0 1 0 0 1
+footprint=SOT223
+T 41500 42000 5 10 1 0 0 0 1
+pn=AZ1117IH-3.3TRG1
+}
+C 40900 41800 1 90 0 capacitor-1.sym
+{
+T 40200 42000 5 10 0 0 90 0 1
+device=CAPACITOR
+T 40000 42000 5 10 0 0 90 0 1
+symversion=0.1
+T 40400 42000 5 10 1 1 90 0 1
+refdes=C405
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+value=22uF
+T 40900 41800 5 10 0 0 0 0 1
+footprint=1206
+T 40900 41800 5 10 1 0 0 0 1
+pn=CC1206MKX5R7BB226
+}
+C 44100 41800 1 90 0 capacitor-1.sym
+{
+T 43400 42000 5 10 0 0 90 0 1
+device=CAPACITOR
+T 43200 42000 5 10 0 0 90 0 1
+symversion=0.1
+T 43600 41900 5 10 1 1 90 0 1
+refdes=C404
+T 44100 41800 5 10 1 1 0 0 1
+value=22uF
+T 44100 41800 5 10 0 0 0 0 1
+footprint=1206
+T 44100 41800 5 10 1 0 0 0 1
+pn=CC1206MKX5R7BB226
+}
+T 55500 47400 9 10 1 0 0 0 1
+DR_H
+T 55500 47100 9 10 1 0 0 0 1
+DR_L
+T 55300 46800 9 10 1 0 0 0 1
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+T 55300 46500 9 10 1 0 0 0 1
+MOSI_L
+T 55300 46200 9 10 1 0 0 0 1
+MISO_H
+T 55300 45900 9 10 1 0 0 0 1
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+T 55400 45600 9 10 1 0 0 0 1
+SCK_H
+T 55400 45300 9 10 1 0 0 0 1
+SCK_L
+T 55500 45000 9 10 1 0 0 0 1
+CS_H
+T 55500 44700 9 10 1 0 0 0 1
+CS_L
+T 55700 48600 9 10 1 0 0 0 1
++5V
+T 55700 48000 9 10 1 0 0 0 1
++5V
+T 55600 48300 9 10 1 0 0 0 1
+GND
+T 55600 47700 9 10 1 0 0 0 1
+GND
+N 40700 42700 41500 42700 4
+N 43900 42700 43300 42700 4
+C 40500 42700 1 0 0 generic-power.sym
+{
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+net=+5V:1
+}
+C 40900 41800 1 180 0 generic-power.sym
+{
+T 40700 41550 5 10 1 1 180 3 1
+net=COM:1
+}
+C 44100 41800 1 180 0 generic-power.sym
+{
+T 43900 41550 5 10 1 1 180 3 1
+net=COM:1
+}
+C 42600 42000 1 180 0 generic-power.sym
+{
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+net=COM:1
+}
+N 43300 42400 43600 42400 4
+N 43600 42400 43600 42700 4
+C 44900 48700 1 0 0 3.3V-plus-1.sym
+C 43700 42700 1 0 0 3.3V-plus-1.sym
+C 44900 43700 1 0 0 3.3V-plus-1.sym
+C 44900 46200 1 0 0 3.3V-plus-1.sym
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+N 43100 44100 46600 44100 4
+{
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+}
+N 44200 46600 46600 46600 4
+N 44200 46900 46600 46900 4
+N 44200 49100 46600 49100 4
+N 44200 49400 46600 49400 4
+C 46600 48200 1 0 0 ADM3490ARZ.sym
+{
+T 46895 49700 5 10 1 1 0 0 1
+refdes=U401
+T 46595 48100 5 10 0 1 0 0 1
+footprint=SO8
+T 46895 49900 5 10 1 1 0 0 1
+model=ADM3490ARZ
+T 46600 48200 5 10 1 0 0 0 1
+pn=ADM3490ARZ
+}
+C 46600 45700 1 0 0 ADM3490ARZ.sym
+{
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+refdes=U402
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+footprint=SO8
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+}
+C 46600 43200 1 0 0 ADM3490ARZ.sym
+{
+T 46895 44700 5 10 1 1 0 0 1
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+footprint=SO8
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+model=ADM3490ARZ
+T 46600 43200 5 10 1 0 0 0 1
+pn=ADM3490ARZ
+}
+C 42300 44000 1 0 0 input-1.sym
+{
+T 42300 44300 5 10 0 0 0 0 1
+device=INPUT
+T 42300 44050 5 10 1 1 0 0 1
+net=CS:1
+}
+C 44200 46700 1 180 0 output-1.sym
+{
+T 44100 46400 5 10 0 0 180 0 1
+device=OUTPUT
+T 44000 46700 5 10 1 1 180 0 1
+net=SCK:1
+}
+C 43400 46800 1 0 0 input-1.sym
+{
+T 43400 47100 5 10 0 0 0 0 1
+device=INPUT
+T 43900 47000 5 10 1 1 180 0 1
+net=MISO:1
+}
+C 44200 49200 1 180 0 output-1.sym
+{
+T 44100 48900 5 10 0 0 180 0 1
+device=OUTPUT
+T 44000 49200 5 10 1 1 180 0 1
+net=MOSI:1
+}
+C 43400 49300 1 0 0 input-1.sym
+{
+T 43400 49600 5 10 0 0 0 0 1
+device=INPUT
+T 43900 49500 5 10 1 1 180 0 1
+net=DR:1
+}
diff --git a/motors/RspBuckBoostv2/shipped_files_rev2/RspPiPS_v2.bottom.gbr b/motors/RspBuckBoostv2/shipped_files_rev2/RspPiPS_v2.bottom.gbr
new file mode 100644
index 0000000..a87bb9f
--- /dev/null
+++ b/motors/RspBuckBoostv2/shipped_files_rev2/RspPiPS_v2.bottom.gbr
@@ -0,0 +1,7677 @@
+G04 This is an RS-274x file exported by *
+G04 gerbv version 2.6.1 *
+G04 More information is available about gerbv at *
+G04 http://gerbv.geda-project.org/ *
+G04 --End of header info--*
+%MOIN*%
+%FSLAX34Y34*%
+%IPPOS*%
+G04 --Define apertures--*
+%ADD10C,0.0001*%
+%ADD11C,0.0150*%
+%ADD12C,0.1000*%
+%ADD13C,0.0400*%
+%ADD14C,0.0450*%
+%ADD15C,0.0250*%
+%ADD16C,0.0360*%
+%ADD17C,0.0500*%
+%ADD18C,0.0787*%
+%ADD19C,0.2362*%
+%ADD20C,0.0620*%
+%ADD21C,0.0630*%
+%ADD22C,0.0800*%
+%ADD23C,0.0768*%
+%ADD24C,0.0600*%
+%ADD25C,0.0350*%
+%ADD26C,0.0200*%
+%ADD27C,0.1063*%
+%ADD28C,0.0402*%
+%ADD29C,0.1181*%
+%ADD30C,0.0354*%
+%ADD31C,0.0453*%
+%ADD32C,0.0380*%
+G04 --Start main section--*
+G54D10*
+G36*
+G01X0019150Y0077200D02*
+G01X0019150Y0076998D01*
+G01X0019105Y0076945D01*
+G01X0019068Y0076885D01*
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+G01X0019041Y0075820D01*
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+G01X0019019Y0075680D01*
+G01X0019024Y0075609D01*
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+G01X0019151Y0075361D01*
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diff --git a/motors/RspBuckBoostv2/shipped_files_rev2/RspPiPS_v2.bottommask.gbr b/motors/RspBuckBoostv2/shipped_files_rev2/RspPiPS_v2.bottommask.gbr
new file mode 100644
index 0000000..9afc95c
--- /dev/null
+++ b/motors/RspBuckBoostv2/shipped_files_rev2/RspPiPS_v2.bottommask.gbr
@@ -0,0 +1,253 @@
+G04 start of page 9 for group -4062 idx -4062 *
+G04 Title: RspPiPS, soldermask *
+G04 Creator: pcb 4.0.2 *
+G04 CreationDate: Thu Dec 16 04:25:21 2021 UTC *
+G04 For: austin *
+G04 Format: Gerber/RS-274X *
+G04 PCB-Dimensions (mil): 10000.00 10000.00 *
+G04 PCB-Coordinate-Origin: lower left *
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diff --git a/motors/RspBuckBoostv2/shipped_files_rev2/RspPiPS_v2.bottompaste.gbr b/motors/RspBuckBoostv2/shipped_files_rev2/RspPiPS_v2.bottompaste.gbr
new file mode 100644
index 0000000..ff40ea1
--- /dev/null
+++ b/motors/RspBuckBoostv2/shipped_files_rev2/RspPiPS_v2.bottompaste.gbr
@@ -0,0 +1,157 @@
+G04 start of page 13 for group -4014 idx -4014 *
+G04 Title: RspPiPS, bottompaste *
+G04 Creator: pcb 4.0.2 *
+G04 CreationDate: Thu Dec 16 04:25:21 2021 UTC *
+G04 For: austin *
+G04 Format: Gerber/RS-274X *
+G04 PCB-Dimensions (mil): 10000.00 10000.00 *
+G04 PCB-Coordinate-Origin: lower left *
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diff --git a/motors/RspBuckBoostv2/shipped_files_rev2/RspPiPS_v2.bottomsilk.gbr b/motors/RspBuckBoostv2/shipped_files_rev2/RspPiPS_v2.bottomsilk.gbr
new file mode 100644
index 0000000..0227ded
--- /dev/null
+++ b/motors/RspBuckBoostv2/shipped_files_rev2/RspPiPS_v2.bottomsilk.gbr
@@ -0,0 +1,337 @@
+G04 start of page 11 for group -4078 idx -4078 *
+G04 Title: RspPiPS, bottomsilk *
+G04 Creator: pcb 4.0.2 *
+G04 CreationDate: Thu Dec 16 04:25:21 2021 UTC *
+G04 For: austin *
+G04 Format: Gerber/RS-274X *
+G04 PCB-Dimensions (mil): 10000.00 10000.00 *
+G04 PCB-Coordinate-Origin: lower left *
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diff --git a/motors/RspBuckBoostv2/shipped_files_rev2/RspPiPS_v2.fab.gbr b/motors/RspBuckBoostv2/shipped_files_rev2/RspPiPS_v2.fab.gbr
new file mode 100644
index 0000000..2812bda
--- /dev/null
+++ b/motors/RspBuckBoostv2/shipped_files_rev2/RspPiPS_v2.fab.gbr
@@ -0,0 +1,2089 @@
+G04 start of page 14 for group -3984 idx -3984 *
+G04 Title: RspPiPS, fab *
+G04 Creator: pcb 4.0.2 *
+G04 CreationDate: Thu Dec 16 04:25:21 2021 UTC *
+G04 For: austin *
+G04 Format: Gerber/RS-274X *
+G04 PCB-Dimensions (mil): 10000.00 10000.00 *
+G04 PCB-Coordinate-Origin: lower left *
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diff --git a/motors/RspBuckBoostv2/shipped_files_rev2/RspPiPS_v2.group5.gbr b/motors/RspBuckBoostv2/shipped_files_rev2/RspPiPS_v2.group5.gbr
new file mode 100644
index 0000000..b9fb177
--- /dev/null
+++ b/motors/RspBuckBoostv2/shipped_files_rev2/RspPiPS_v2.group5.gbr
@@ -0,0 +1,516 @@
+G04 start of page 5 for group 5 idx 2 *
+G04 Title: RspPiPS, mechanical *
+G04 Creator: pcb 4.0.2 *
+G04 CreationDate: Thu Dec 16 04:25:21 2021 UTC *
+G04 For: austin *
+G04 Format: Gerber/RS-274X *
+G04 PCB-Dimensions (mil): 10000.00 10000.00 *
+G04 PCB-Coordinate-Origin: lower left *
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diff --git a/motors/RspBuckBoostv2/shipped_files_rev2/RspPiPS_v2.outline.gbr b/motors/RspBuckBoostv2/shipped_files_rev2/RspPiPS_v2.outline.gbr
new file mode 100644
index 0000000..d6198ba
--- /dev/null
+++ b/motors/RspBuckBoostv2/shipped_files_rev2/RspPiPS_v2.outline.gbr
@@ -0,0 +1,21 @@
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+G04 CreationDate: Thu Dec 16 04:25:21 2021 UTC *
+G04 For: austin *
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diff --git a/motors/RspBuckBoostv2/shipped_files_rev2/RspPiPS_v2.plated-drill.cnc b/motors/RspBuckBoostv2/shipped_files_rev2/RspPiPS_v2.plated-drill.cnc
new file mode 100644
index 0000000..f81187f
--- /dev/null
+++ b/motors/RspBuckBoostv2/shipped_files_rev2/RspPiPS_v2.plated-drill.cnc
@@ -0,0 +1,159 @@
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diff --git a/motors/RspBuckBoostv2/shipped_files_rev2/RspPiPS_v2.top.gbr b/motors/RspBuckBoostv2/shipped_files_rev2/RspPiPS_v2.top.gbr
new file mode 100644
index 0000000..4851473
--- /dev/null
+++ b/motors/RspBuckBoostv2/shipped_files_rev2/RspPiPS_v2.top.gbr
@@ -0,0 +1,1929 @@
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+G04 Creator: pcb 4.0.2 *
+G04 CreationDate: Thu Dec 16 04:25:21 2021 UTC *
+G04 For: austin *
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diff --git a/motors/RspBuckBoostv2/shipped_files_rev2/RspPiPS_v2.topmask.gbr b/motors/RspBuckBoostv2/shipped_files_rev2/RspPiPS_v2.topmask.gbr
new file mode 100644
index 0000000..02e648c
--- /dev/null
+++ b/motors/RspBuckBoostv2/shipped_files_rev2/RspPiPS_v2.topmask.gbr
@@ -0,0 +1,747 @@
+G04 start of page 8 for group -4063 idx -4063 *
+G04 Title: RspPiPS, componentmask *
+G04 Creator: pcb 4.0.2 *
+G04 CreationDate: Thu Dec 16 04:25:21 2021 UTC *
+G04 For: austin *
+G04 Format: Gerber/RS-274X *
+G04 PCB-Dimensions (mil): 10000.00 10000.00 *
+G04 PCB-Coordinate-Origin: lower left *
+%MOIN*%
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diff --git a/motors/RspBuckBoostv2/shipped_files_rev2/RspPiPS_v2.toppaste.gbr b/motors/RspBuckBoostv2/shipped_files_rev2/RspPiPS_v2.toppaste.gbr
new file mode 100644
index 0000000..c808be2
--- /dev/null
+++ b/motors/RspBuckBoostv2/shipped_files_rev2/RspPiPS_v2.toppaste.gbr
@@ -0,0 +1,651 @@
+G04 start of page 12 for group -4015 idx -4015 *
+G04 Title: RspPiPS, toppaste *
+G04 Creator: pcb 4.0.2 *
+G04 CreationDate: Thu Dec 16 04:25:21 2021 UTC *
+G04 For: austin *
+G04 Format: Gerber/RS-274X *
+G04 PCB-Dimensions (mil): 10000.00 10000.00 *
+G04 PCB-Coordinate-Origin: lower left *
+%MOIN*%
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diff --git a/motors/RspBuckBoostv2/shipped_files_rev2/RspPiPS_v2.topsilk.gbr b/motors/RspBuckBoostv2/shipped_files_rev2/RspPiPS_v2.topsilk.gbr
new file mode 100644
index 0000000..15f2fbf
--- /dev/null
+++ b/motors/RspBuckBoostv2/shipped_files_rev2/RspPiPS_v2.topsilk.gbr
@@ -0,0 +1,1544 @@
+G04 start of page 10 for group -4079 idx -4079 *
+G04 Title: RspPiPS, topsilk *
+G04 Creator: pcb 4.0.2 *
+G04 CreationDate: Thu Dec 16 04:25:21 2021 UTC *
+G04 For: austin *
+G04 Format: Gerber/RS-274X *
+G04 PCB-Dimensions (mil): 10000.00 10000.00 *
+G04 PCB-Coordinate-Origin: lower left *
+%MOIN*%
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diff --git a/motors/RspBuckBoostv2/shipped_files_rev2/RspPiPS_v2.unplated-drill.cnc b/motors/RspBuckBoostv2/shipped_files_rev2/RspPiPS_v2.unplated-drill.cnc
new file mode 100644
index 0000000..f58c419
--- /dev/null
+++ b/motors/RspBuckBoostv2/shipped_files_rev2/RspPiPS_v2.unplated-drill.cnc
@@ -0,0 +1,8 @@
+M48
+INCH
+T87C0.118
+%
+T87
+X045847Y074172
+X045847Y068778
+M30
diff --git a/motors/RspPiPicoIMU/RspPiPicoIMU-cache.lib b/motors/RspPiPicoIMU/RspPiPicoIMU-cache.lib
new file mode 100644
index 0000000..28069d2
--- /dev/null
+++ b/motors/RspPiPicoIMU/RspPiPicoIMU-cache.lib
@@ -0,0 +1,618 @@
+EESchema-LIBRARY Version 2.4
+#encoding utf-8
+#
+# Connector_Conn_01x02_Male
+#
+DEF Connector_Conn_01x02_Male J 0 40 Y N 1 F N
+F0 "J" 0 100 50 H V C CNN
+F1 "Connector_Conn_01x02_Male" 0 -200 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+$FPLIST
+ Connector*:*_1x??_*
+$ENDFPLIST
+DRAW
+S 34 -95 0 -105 1 1 6 F
+S 34 5 0 -5 1 1 6 F
+P 2 1 1 6 50 -100 34 -100 N
+P 2 1 1 6 50 0 34 0 N
+X Pin_1 1 200 0 150 L 50 50 1 1 P
+X Pin_2 2 200 -100 150 L 50 50 1 1 P
+ENDDRAW
+ENDDEF
+#
+# Device_C
+#
+DEF Device_C C 0 10 N Y 1 F N
+F0 "C" 25 100 50 H V L CNN
+F1 "Device_C" 25 -100 50 H V L CNN
+F2 "" 38 -150 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+$FPLIST
+ C_*
+$ENDFPLIST
+DRAW
+P 2 0 1 20 -80 -30 80 -30 N
+P 2 0 1 20 -80 30 80 30 N
+X ~ 1 0 150 110 D 50 50 1 1 P
+X ~ 2 0 -150 110 U 50 50 1 1 P
+ENDDRAW
+ENDDEF
+#
+# Device_LED
+#
+DEF Device_LED D 0 40 N N 1 F N
+F0 "D" 0 100 50 H V C CNN
+F1 "Device_LED" 0 -100 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+$FPLIST
+ LED*
+ LED_SMD:*
+ LED_THT:*
+$ENDFPLIST
+DRAW
+P 2 0 1 10 -50 -50 -50 50 N
+P 2 0 1 0 -50 0 50 0 N
+P 4 0 1 10 50 -50 50 50 -50 0 50 -50 N
+P 5 0 1 0 -120 -30 -180 -90 -150 -90 -180 -90 -180 -60 N
+P 5 0 1 0 -70 -30 -130 -90 -100 -90 -130 -90 -130 -60 N
+X K 1 -150 0 100 R 50 50 1 1 P
+X A 2 150 0 100 L 50 50 1 1 P
+ENDDRAW
+ENDDEF
+#
+# Device_R
+#
+DEF Device_R R 0 0 N Y 1 F N
+F0 "R" 80 0 50 V V C CNN
+F1 "Device_R" 0 0 50 V V C CNN
+F2 "" -70 0 50 V I C CNN
+F3 "" 0 0 50 H I C CNN
+$FPLIST
+ R_*
+$ENDFPLIST
+DRAW
+S -40 -100 40 100 0 1 10 N
+X ~ 1 0 150 50 D 50 50 1 1 P
+X ~ 2 0 -150 50 U 50 50 1 1 P
+ENDDRAW
+ENDDEF
+#
+# Diode_B240
+#
+DEF Diode_B240 D 0 40 N N 1 F N
+F0 "D" 0 100 50 H V C CNN
+F1 "Diode_B240" 0 -100 50 H V C CNN
+F2 "Diode_SMD:D_SMB" 0 -175 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+ALIAS B230 B240 B250 B260
+$FPLIST
+ D*SMB*
+$ENDFPLIST
+DRAW
+P 2 0 1 0 50 0 -50 0 N
+P 4 0 1 10 50 50 50 -50 -50 0 50 50 N
+P 6 0 1 10 -75 25 -75 50 -50 50 -50 -50 -25 -50 -25 -25 N
+X K 1 -150 0 100 R 50 50 1 1 P
+X A 2 150 0 100 L 50 50 1 1 P
+ENDDRAW
+ENDDEF
+#
+# Mechanical_MountingHole
+#
+DEF Mechanical_MountingHole H 0 40 Y Y 1 F N
+F0 "H" 0 200 50 H V C CNN
+F1 "Mechanical_MountingHole" 0 125 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+$FPLIST
+ MountingHole*
+$ENDFPLIST
+DRAW
+C 0 0 50 0 1 50 N
+ENDDRAW
+ENDDEF
+#
+# Regulator_Linear_AZ1117-3.3
+#
+DEF Regulator_Linear_AZ1117-3.3 U 0 10 Y Y 1 F N
+F0 "U" -150 125 50 H V C CNN
+F1 "Regulator_Linear_AZ1117-3.3" 0 125 50 H V L CNN
+F2 "" 0 250 50 H I C CIN
+F3 "" 0 0 50 H I C CNN
+ALIAS AZ1117-1.5 AZ1117-1.8 AZ1117-2.5 AZ1117-2.85 AZ1117-3.3 AZ1117-5.0
+$FPLIST
+ SOT?223*
+ SOT?89*
+ TO?220*
+ TO?252*
+ TO?263*
+$ENDFPLIST
+DRAW
+S -200 75 200 -200 0 1 10 f
+X GND 1 0 -300 100 U 50 50 1 1 W
+X VO 2 300 0 100 L 50 50 1 1 w
+X VI 3 -300 0 100 R 50 50 1 1 W
+ENDDRAW
+ENDDEF
+#
+# RspPiPicoIMU_4-PIN-VERT-MOLEX
+#
+DEF RspPiPicoIMU_4-PIN-VERT-MOLEX J 0 40 Y Y 1 F N
+F0 "J" 25 25 50 H V C CNN
+F1 "RspPiPicoIMU_4-PIN-VERT-MOLEX" 50 25 50 H I C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+DRAW
+S 0 -50 25 -450 0 1 0 F
+P 2 0 1 0 150 -400 125 -425 N
+P 2 0 1 0 150 -300 125 -325 N
+P 2 0 1 0 150 -200 125 -225 N
+P 2 0 1 0 150 -100 125 -75 N
+P 3 0 1 0 0 -400 150 -400 125 -375 N
+P 3 0 1 0 0 -300 150 -300 125 -275 N
+P 3 0 1 0 0 -200 150 -200 125 -175 N
+P 3 0 1 0 0 -100 150 -100 125 -125 N
+X ~ 1 -100 -100 100 R 50 50 1 1 U
+X ~ 2 -100 -200 100 R 50 50 1 1 U
+X ~ 3 -100 -300 100 R 50 50 1 1 U
+X ~ 4 -100 -400 100 R 50 50 1 1 U
+ENDDRAW
+ENDDEF
+#
+# RspPiPicoIMU_ADIS16505-3BMLZ
+#
+DEF RspPiPicoIMU_ADIS16505-3BMLZ U 0 40 Y Y 1 F N
+F0 "U" 50 50 50 H V C CNN
+F1 "RspPiPicoIMU_ADIS16505-3BMLZ" 100 -100 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+DRAW
+S -800 0 1100 -4000 0 1 0 f
+S -100 -200 400 -3200 0 1 0 N
+X GND A2 -900 -1100 100 R 50 50 0 0 P
+X GND A1 -900 -1000 100 R 50 50 1 1 P
+X NC A10 -200 -400 100 R 50 50 1 1 P
+X GND A3 -900 -1200 100 R 50 50 1 1 P
+X GND A4 -900 -1300 100 R 50 50 1 1 P
+X GND A5 -900 -1400 100 R 50 50 1 1 P
+X GND A6 -900 -1500 100 R 50 50 1 1 P
+X GND A7 -900 -1600 100 R 50 50 1 1 P
+X GND A8 -900 -1700 100 R 50 50 1 1 P
+X NC A9 -200 -300 100 R 50 50 1 1 P
+X NC B1 -200 -500 100 R 50 50 1 1 P
+X NC B10 -200 -1000 100 R 50 50 1 1 P
+X NC B2 -200 -600 100 R 50 50 1 1 P
+X GND B3 -900 -1800 100 R 50 50 1 1 P
+X GND B4 -900 -1900 100 R 50 50 1 1 P
+X GND B5 -900 -2000 100 R 50 50 1 1 P
+X GND B6 -900 -2100 100 R 50 50 1 1 P
+X NC B7 -200 -700 100 R 50 50 1 1 P
+X NC B8 -200 -800 100 R 50 50 1 1 P
+X NC B9 -200 -900 100 R 50 50 1 1 P
+X NC C1 -200 -1100 100 R 50 50 1 1 P
+X NC C10 -200 -1700 100 R 50 50 1 1 P
+X GND C2 -900 -2200 100 R 50 50 1 1 P
+X DNC C3 -200 -1200 100 R 50 50 1 1 N
+X NC C4 -200 -1300 100 R 50 50 1 1 P
+X NC C5 -200 -1400 100 R 50 50 1 1 P
+X GND C6 -900 -2300 100 R 50 50 1 1 P
+X VDD C7 -900 -100 100 R 50 50 1 1 W
+X NC C8 -200 -1500 100 R 50 50 1 1 P
+X NC C9 -200 -1600 100 R 50 50 1 1 P
+X NC D1 -200 -1800 100 R 50 50 1 1 P
+X NC D10 -200 -2500 100 R 50 50 1 1 P
+X NC D2 -200 -1900 100 R 50 50 1 1 P
+X GND D3 -900 -2400 100 R 50 50 1 1 P
+X NC D4 -200 -2000 100 R 50 50 1 1 P
+X NC D5 -200 -2100 100 R 50 50 1 1 P
+X VDD D6 -900 -200 100 R 50 50 1 1 W
+X NC D7 -200 -2200 100 R 50 50 1 1 P
+X NC D8 -200 -2300 100 R 50 50 1 1 P
+X NC D9 -200 -2400 100 R 50 50 1 1 P
+X NC E1 -200 -2600 100 R 50 50 1 1 P
+X NC E10 -200 -3100 100 R 50 50 1 1 P
+X GND E2 -900 -2500 100 R 50 50 1 1 P
+X VDD E3 -900 -300 100 R 50 50 1 1 W
+X NC E4 -200 -2700 100 R 50 50 1 1 P
+X NC E5 -200 -2800 100 R 50 50 1 1 P
+X GND E6 -900 -2600 100 R 50 50 1 1 P
+X GND E7 -900 -2700 100 R 50 50 1 1 P
+X NC E8 -200 -2900 100 R 50 50 1 1 P
+X NC E9 -200 -3000 100 R 50 50 1 1 P
+X GND F1 -900 -2800 100 R 50 50 1 1 P
+X NC F10 500 -800 100 L 50 50 1 1 P
+X NC F2 500 -400 100 L 50 50 1 1 P
+X ~RST F3 1200 -100 100 L 50 50 1 1 I
+X NC F4 500 -500 100 L 50 50 1 1 P
+X GND F5 -900 -2900 100 R 50 50 1 1 P
+X GND F6 -900 -3000 100 R 50 50 1 1 P
+X NC F7 500 -600 100 L 50 50 1 1 P
+X GND F8 -900 -3100 100 R 50 50 1 1 P
+X NC F9 500 -700 100 L 50 50 1 1 P
+X VDD G1 -900 -400 100 R 50 50 1 1 W
+X NC G10 500 -1300 100 L 50 50 1 1 P
+X GND G2 -900 -3200 100 R 50 50 1 1 P
+X ~CS G3 1200 -700 100 L 50 50 1 1 I
+X NC G4 500 -900 100 L 50 50 1 1 P
+X NC G5 500 -1000 100 L 50 50 1 1 P
+X DIN G6 1200 -400 100 L 50 50 1 1 I
+X GND G7 -900 -3300 100 R 50 50 1 1 P
+X NC G8 500 -1100 100 L 50 50 1 1 P
+X NC G9 500 -1200 100 L 50 50 1 1 P
+X VDD H1 -900 -500 100 R 50 50 1 1 W
+X NC H10 500 -1900 100 L 50 50 1 1 P
+X NC H2 500 -1400 100 L 50 50 1 1 P
+X DOUT H3 1200 -500 100 L 50 50 1 1 T
+X NC H4 500 -1500 100 L 50 50 1 1 P
+X NC H5 500 -1600 100 L 50 50 1 1 P
+X SCLK H6 1200 -600 100 L 50 50 1 1 I
+X NC H7 500 -1700 100 L 50 50 1 1 P
+X GND H8 -900 -3400 100 R 50 50 1 1 P
+X NC H9 500 -1800 100 L 50 50 1 1 P
+X NC J1 500 -2000 100 L 50 50 1 1 P
+X NC J10 500 -2300 100 L 50 50 1 1 P
+X GND J2 -900 -3500 100 R 50 50 1 1 P
+X SYNC J3 1200 -300 100 L 50 50 1 1 I
+X VDD J4 -900 -600 100 R 50 50 1 1 W
+X VDD J5 -900 -700 100 R 50 50 1 1 W
+X DR J6 1200 -200 100 L 50 50 1 1 O
+X GND J7 -900 -3600 100 R 50 50 1 1 P
+X NC J8 500 -2100 100 L 50 50 1 1 P
+X NC J9 500 -2200 100 L 50 50 1 1 P
+X GND K1 -900 -3700 100 R 50 50 1 1 P
+X NC K10 500 -2900 100 L 50 50 1 1 P
+X NC K2 500 -2400 100 L 50 50 1 1 P
+X GND K3 -900 -3800 100 R 50 50 1 1 P
+X NC K4 500 -2500 100 L 50 50 1 1 P
+X NC K5 500 -2600 100 L 50 50 1 1 P
+X VDD K6 -900 -800 100 R 50 50 1 1 W
+X NC K7 500 -2700 100 L 50 50 1 1 P
+X GND K8 -900 -3900 100 R 50 50 1 1 P
+X NC K9 500 -2800 100 L 50 50 1 1 P
+ENDDRAW
+ENDDEF
+#
+# RspPiPicoIMU_ADM3490ARZ
+#
+DEF RspPiPicoIMU_ADM3490ARZ U 0 40 Y Y 1 F N
+F0 "U" 50 50 50 H V C CNN
+F1 "RspPiPicoIMU_ADM3490ARZ" 250 -850 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+DRAW
+C 425 -500 25 0 1 0 N
+C 425 -200 25 0 1 0 N
+S 0 0 500 -800 0 1 0 f
+P 2 0 1 0 400 -400 500 -400 N
+P 2 0 1 0 400 -50 400 -250 N
+P 2 0 1 0 450 -500 500 -500 N
+P 2 0 1 0 450 -200 500 -200 N
+P 2 0 1 0 500 -100 400 -100 N
+P 4 0 1 0 150 -100 175 -100 175 -150 250 -150 N
+P 4 0 1 0 250 -450 175 -450 175 -400 150 -400 N
+P 4 0 1 0 400 -350 400 -550 250 -450 400 -350 N
+P 4 0 1 0 400 -150 250 -50 250 -250 400 -150 N
+X VCC 1 -100 -600 100 R 50 50 1 1 W
+X RO 2 -100 -400 100 R 50 50 1 1 O
+X DI 3 -100 -100 100 R 50 50 1 1 I
+X GND 4 -100 -700 100 R 50 50 1 1 P
+X ~ 5 600 -100 100 L 50 50 1 1 O
+X ~ 6 600 -200 100 L 50 50 1 1 O
+X ~ 7 600 -500 100 L 50 50 1 1 I
+X ~ 8 600 -400 100 L 50 50 1 1 I
+ENDDRAW
+ENDDEF
+#
+# RspPiPicoIMU_ADUM1280ARZ
+#
+DEF RspPiPicoIMU_ADUM1280ARZ U 0 20 Y Y 1 F N
+F0 "U" 100 25 50 H V C CNN
+F1 "RspPiPicoIMU_ADUM1280ARZ" 275 -850 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+DRAW
+S 0 0 500 -800 0 1 0 f
+S 225 0 275 -800 0 1 0 F
+P 2 0 1 0 0 -500 50 -500 N
+P 2 0 1 0 0 -300 50 -300 N
+P 2 0 1 0 0 -300 75 -300 N
+P 2 0 1 0 150 -500 200 -500 N
+P 2 0 1 0 150 -300 200 -300 N
+P 2 0 1 0 175 -350 200 -350 N
+P 2 0 1 0 175 -250 200 -250 N
+P 2 0 1 0 200 -250 200 -350 N
+P 2 0 1 0 300 -500 350 -500 N
+P 2 0 1 0 300 -300 350 -300 N
+P 2 0 1 0 425 -500 475 -500 N
+P 2 0 1 0 425 -300 475 -300 N
+P 2 0 1 0 450 -500 500 -500 N
+P 2 0 1 0 450 -300 500 -300 N
+P 4 0 1 0 75 -250 75 -350 150 -300 75 -250 N
+P 4 0 1 0 175 -450 200 -450 200 -550 175 -550 N
+P 4 0 1 0 325 -450 300 -450 300 -550 325 -550 N
+P 4 0 1 0 325 -250 300 -250 300 -350 325 -350 N
+P 4 0 1 0 350 -450 350 -550 425 -500 350 -450 N
+P 4 0 1 0 350 -250 350 -350 425 -300 350 -250 N
+P 6 0 1 0 0 -500 75 -500 75 -550 150 -500 75 -450 75 -500 N
+X VDD1 1 -100 -100 100 R 50 50 1 1 W
+X ~ 2 -100 -300 100 R 50 50 1 1 I
+X ~ 3 -100 -500 100 R 50 50 1 1 I
+X GND1 4 -100 -700 100 R 50 50 1 1 P
+X GND2 5 600 -700 100 L 50 50 1 1 P
+X ~ 6 600 -500 100 L 50 50 1 1 O
+X ~ 7 600 -300 100 L 50 50 1 1 O
+X VDD2 8 600 -100 100 L 50 50 1 1 W
+ENDDRAW
+ENDDEF
+#
+# RspPiPicoIMU_MICROFIT-VERT-2x7
+#
+DEF RspPiPicoIMU_MICROFIT-VERT-2x7 J 0 40 Y Y 1 F N
+F0 "J" 0 0 50 H V C CNN
+F1 "RspPiPicoIMU_MICROFIT-VERT-2x7" -100 75 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+DRAW
+S 125 -50 150 -1450 0 1 0 F
+P 2 0 1 0 275 -1400 250 -1425 N
+P 2 0 1 0 275 -1300 250 -1325 N
+P 2 0 1 0 275 -1200 250 -1225 N
+P 2 0 1 0 275 -1100 250 -1125 N
+P 2 0 1 0 275 -1000 250 -1025 N
+P 2 0 1 0 275 -900 250 -925 N
+P 2 0 1 0 275 -800 250 -825 N
+P 2 0 1 0 275 -700 250 -725 N
+P 2 0 1 0 275 -600 250 -625 N
+P 2 0 1 0 275 -500 250 -525 N
+P 2 0 1 0 275 -400 250 -425 N
+P 2 0 1 0 275 -300 250 -325 N
+P 2 0 1 0 275 -200 250 -175 N
+P 2 0 1 0 275 -100 250 -75 N
+P 3 0 1 0 100 -1400 275 -1400 250 -1375 N
+P 3 0 1 0 100 -1300 275 -1300 250 -1275 N
+P 3 0 1 0 100 -1200 275 -1200 250 -1175 N
+P 3 0 1 0 100 -1100 275 -1100 250 -1075 N
+P 3 0 1 0 100 -1000 275 -1000 250 -975 N
+P 3 0 1 0 100 -900 275 -900 250 -875 N
+P 3 0 1 0 100 -800 275 -800 250 -775 N
+P 3 0 1 0 100 -700 275 -700 250 -675 N
+P 3 0 1 0 100 -600 275 -600 250 -575 N
+P 3 0 1 0 100 -500 275 -500 250 -475 N
+P 3 0 1 0 100 -400 275 -400 250 -375 N
+P 3 0 1 0 100 -300 275 -300 250 -275 N
+P 3 0 1 0 100 -200 275 -200 250 -225 N
+P 3 0 1 0 100 -100 275 -100 250 -125 N
+X ~ 1 0 -100 100 R 50 50 1 1 U
+X ~ 10 0 -600 100 R 50 50 1 1 U
+X ~ 11 0 -800 100 R 50 50 1 1 U
+X ~ 12 0 -1000 100 R 50 50 1 1 U
+X ~ 13 0 -1200 100 R 50 50 1 1 U
+X ~ 14 0 -1400 100 R 50 50 1 1 U
+X ~ 2 0 -300 100 R 50 50 1 1 U
+X ~ 3 0 -500 100 R 50 50 1 1 U
+X ~ 4 0 -700 100 R 50 50 1 1 U
+X ~ 5 0 -900 100 R 50 50 1 1 U
+X ~ 6 0 -1100 100 R 50 50 1 1 U
+X ~ 7 0 -1300 100 R 50 50 1 1 U
+X ~ 8 0 -200 100 R 50 50 1 1 U
+X ~ 9 0 -400 100 R 50 50 1 1 U
+ENDDRAW
+ENDDEF
+#
+# RspPiPicoIMU_SC0915-PI-Pico
+#
+DEF RspPiPicoIMU_SC0915-PI-Pico U 0 40 Y Y 1 F N
+F0 "U" 50 50 50 H V C CNN
+F1 "RspPiPicoIMU_SC0915-PI-Pico" 650 -50 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+DRAW
+S 0 0 1300 -2800 0 1 0 f
+X GP0 1 -100 -1000 100 R 50 50 1 1 B
+X PIO1/GP7 10 1400 -1000 100 L 50 50 1 1 I
+X GP8 11 -100 -1200 100 R 50 50 1 1 B
+X GP9 12 -100 -1300 100 R 50 50 1 1 B
+X GND 13 400 -2900 100 U 50 50 1 1 P
+X SPI1_SCK/GP10 14 1400 -500 100 L 50 50 1 1 O
+X SPI1_TX/GP11 15 1400 -400 100 L 50 50 1 1 O
+X SPI1_RX/GP12 16 1400 -300 100 L 50 50 1 1 I
+X SPI1_CSn/GP13 17 1400 -600 100 L 50 50 1 1 I
+X GND 18 500 -2900 100 U 50 50 1 1 P
+X GP14 19 1400 -200 100 L 50 50 1 1 O
+X GP1 2 -100 -1100 100 R 50 50 1 1 B
+X GP15 20 -100 -1400 100 R 50 50 1 1 B
+X GP16/SPI0_RX 21 -100 -600 100 R 50 50 1 1 I
+X GP17/SPI0_CSn 22 -100 -800 100 R 50 50 1 1 O
+X GND 23 600 -2900 100 U 50 50 1 1 P
+X GP18/SPI0_SCK 24 -100 -700 100 R 50 50 1 1 O
+X GP19/SPI0_TX 25 -100 -500 100 R 50 50 1 1 O
+X GP20 26 -100 -300 100 R 50 50 1 1 I
+X GP21 27 -100 -400 100 R 50 50 1 1 O
+X GND 28 700 -2900 100 U 50 50 1 1 P
+X GP22 29 -100 -200 100 R 50 50 1 1 O
+X GND 3 200 -2900 100 U 50 50 1 1 P
+X RUN 30 -100 -1900 100 R 50 50 1 1 I
+X GP26 31 -100 -1500 100 R 50 50 1 1 B
+X GP27 32 -100 -1600 100 R 50 50 1 1 B
+X GND/AGND 33 800 -2900 100 U 50 50 1 1 P
+X GP28 34 -100 -1700 100 R 50 50 1 1 B
+X ADC_VREF 35 -100 -2000 100 R 50 50 1 1 P
+X 3V3(OUT) 36 -100 -2100 100 R 50 50 1 1 w
+X 3V3_EN 37 -100 -2200 100 R 50 50 1 1 I
+X GND 38 900 -2900 100 U 50 50 1 1 P
+X VSYS 39 -100 -2500 100 R 50 50 1 1 W
+X PWM1A/GP2 4 1400 -2100 100 L 50 50 1 1 O
+X VBUS 40 -100 -2400 100 R 50 50 1 1 W
+X PIO0/GP3 5 1400 -1600 100 L 50 50 1 1 I
+X PWM2A/GP4 6 1400 -2200 100 L 50 50 1 1 O
+X PIO0/GP5 7 1400 -1700 100 L 50 50 1 1 I
+X GND 8 300 -2900 100 U 50 50 1 1 P
+X PIO1/GP6 9 1400 -900 100 L 50 50 1 1 I
+X SWCLK D1 1400 -2400 100 L 50 50 1 1 U
+X GND D2 1400 -2600 100 L 50 50 1 1 U
+X SWDIO D3 1400 -2500 100 L 50 50 1 1 U
+ENDDRAW
+ENDDEF
+#
+# RspPiPicoIMU_SMA6J5.0A
+#
+DEF RspPiPicoIMU_SMA6J5.0A D 0 40 Y Y 1 F N
+F0 "D" 125 -50 50 H V C CNN
+F1 "RspPiPicoIMU_SMA6J5.0A" 225 50 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+F4 "SMA6J5.0A" -275 -75 50 H V C CNN "P/N"
+F5 "Bourns" -250 0 50 H V C CNN "MFG"
+DRAW
+P 4 0 1 0 -75 -100 75 -100 0 0 -75 -100 F
+P 4 0 1 0 -75 -25 -50 0 50 0 75 25 N
+X ~ 1 0 100 100 D 50 50 1 1 U
+X ~ 2 0 -200 100 U 50 50 1 1 U
+ENDDRAW
+ENDDEF
+#
+# RspPiPicoIMU_SMDJ5.0A
+#
+DEF RspPiPicoIMU_SMDJ5.0A D 0 40 Y Y 1 F N
+F0 "D" 125 -125 50 H V C CNN
+F1 "RspPiPicoIMU_SMDJ5.0A" 275 -50 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+F4 "SMDJ5.0A" -275 -125 50 H V C CNN "P/N"
+F5 "Littelfuse" -275 -25 50 H V C CNN "MFG"
+DRAW
+P 2 0 1 0 0 -200 0 -150 N
+P 2 0 1 0 0 0 0 -50 N
+P 4 0 1 0 -75 -150 75 -150 0 -50 -75 -150 F
+P 4 0 1 0 -75 -75 -50 -50 50 -50 75 -25 N
+X ~ 1 0 100 100 D 50 50 1 1 U
+X ~ 2 0 -300 100 U 50 50 1 1 U
+ENDDRAW
+ENDDEF
+#
+# RspPiPicoIMU_SN74HC14DR
+#
+DEF RspPiPicoIMU_SN74HC14DR U 0 40 Y Y 1 F N
+F0 "U" 25 50 50 H V C CNN
+F1 "RspPiPicoIMU_SN74HC14DR" 200 -850 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+DRAW
+C 275 -600 25 0 1 0 N
+C 275 -500 25 0 1 0 N
+C 275 -400 25 0 1 0 N
+C 275 -300 25 0 1 0 N
+C 275 -200 25 0 1 0 N
+C 275 -100 25 0 1 0 N
+S 0 0 400 -800 0 1 0 f
+P 2 0 1 0 0 -600 100 -600 N
+P 2 0 1 0 0 -500 100 -500 N
+P 2 0 1 0 0 -400 100 -400 N
+P 2 0 1 0 0 -300 100 -300 N
+P 2 0 1 0 0 -200 100 -200 N
+P 2 0 1 0 0 -100 100 -100 N
+P 2 0 1 0 300 -600 400 -600 N
+P 2 0 1 0 300 -500 400 -500 N
+P 2 0 1 0 300 -400 400 -400 N
+P 2 0 1 0 300 -300 400 -300 N
+P 2 0 1 0 300 -200 400 -200 N
+P 2 0 1 0 300 -100 400 -100 N
+P 6 0 1 0 100 -600 175 -600 175 -550 250 -600 175 -650 175 -600 N
+P 6 0 1 0 100 -500 175 -500 175 -450 250 -500 175 -550 175 -500 N
+P 6 0 1 0 100 -400 175 -400 175 -350 250 -400 175 -450 175 -400 N
+P 6 0 1 0 100 -300 175 -300 175 -250 250 -300 175 -350 175 -300 N
+P 6 0 1 0 100 -100 175 -100 175 -50 250 -100 175 -150 175 -100 N
+P 7 0 1 0 100 -200 175 -200 175 -175 175 -150 250 -200 175 -250 175 -200 N
+X ~ 1 -100 -100 100 R 50 50 1 1 I
+X ~ 10 500 -500 100 L 50 50 1 1 O
+X ~ 11 -100 -500 100 R 50 50 1 1 I
+X ~ 12 500 -600 100 L 50 50 1 1 O
+X ~ 13 -100 -600 100 R 50 50 1 1 I
+X VCC 14 500 -700 100 L 50 50 1 1 W
+X ~ 2 500 -100 100 L 50 50 1 1 O
+X ~ 3 -100 -200 100 R 50 50 1 1 I
+X ~ 4 500 -200 100 L 50 50 1 1 O
+X ~ 5 -100 -300 100 R 50 50 1 1 I
+X ~ 6 500 -300 100 L 50 50 1 1 O
+X GND 7 -100 -700 100 R 50 50 1 1 P
+X ~ 8 500 -400 100 L 50 50 1 1 O
+X ~ 9 -100 -400 100 R 50 50 1 1 I
+ENDDRAW
+ENDDEF
+#
+# power_+3.3V
+#
+DEF power_+3.3V #PWR 0 0 Y Y 1 F P
+F0 "#PWR" 0 -150 50 H I C CNN
+F1 "power_+3.3V" 0 140 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+ALIAS +3.3V
+DRAW
+P 2 0 1 0 -30 50 0 100 N
+P 2 0 1 0 0 0 0 100 N
+P 2 0 1 0 0 100 30 50 N
+X +3V3 1 0 0 0 U 50 50 1 1 W N
+ENDDRAW
+ENDDEF
+#
+# power_+5V
+#
+DEF power_+5V #PWR 0 0 Y Y 1 F P
+F0 "#PWR" 0 -150 50 H I C CNN
+F1 "power_+5V" 0 140 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+DRAW
+P 2 0 1 0 -30 50 0 100 N
+P 2 0 1 0 0 0 0 100 N
+P 2 0 1 0 0 100 30 50 N
+X +5V 1 0 0 0 U 50 50 1 1 W N
+ENDDRAW
+ENDDEF
+#
+# power_+5VD
+#
+DEF power_+5VD #PWR 0 0 Y Y 1 F P
+F0 "#PWR" 0 -150 50 H I C CNN
+F1 "power_+5VD" 0 140 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+DRAW
+P 2 0 1 0 -30 50 0 100 N
+P 2 0 1 0 0 0 0 100 N
+P 2 0 1 0 0 100 30 50 N
+X +5VD 1 0 0 0 U 50 50 1 1 W N
+ENDDRAW
+ENDDEF
+#
+# power_GND
+#
+DEF power_GND #PWR 0 0 Y Y 1 F P
+F0 "#PWR" 0 -250 50 H I C CNN
+F1 "power_GND" 0 -150 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+DRAW
+P 6 0 1 0 0 0 0 -50 50 -50 0 -100 -50 -50 0 -50 N
+X GND 1 0 0 0 D 50 50 1 1 W N
+ENDDRAW
+ENDDEF
+#
+# power_GNDD
+#
+DEF power_GNDD #PWR 0 0 Y Y 1 F P
+F0 "#PWR" 0 -250 50 H I C CNN
+F1 "power_GNDD" 0 -125 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+DRAW
+S -50 -60 50 -80 0 1 10 F
+P 2 0 1 0 0 0 0 -60 N
+X GNDD 1 0 0 0 D 50 50 1 1 W N
+ENDDRAW
+ENDDEF
+#
+#End Library
diff --git a/motors/RspPiPicoIMU/RspPiPicoIMU.dcm b/motors/RspPiPicoIMU/RspPiPicoIMU.dcm
new file mode 100644
index 0000000..45ab8ac
--- /dev/null
+++ b/motors/RspPiPicoIMU/RspPiPicoIMU.dcm
@@ -0,0 +1,35 @@
+EESchema-DOCLIB Version 2.0
+#
+$CMP 4-PIN-VERT-MOLEX
+F https://www.mouser.com/datasheet/2/276/0022232041_PCB_HEADERS-526511.pdf
+$ENDCMP
+#
+$CMP ADM3490ARZ
+F https://www.analog.com/media/en/technical-documentation/data-sheets/ADM3483_3485_3488_3490_3491.pdf
+$ENDCMP
+#
+$CMP ADUM1280ARZ
+F https://www.analog.com/media/en/technical-documentation/data-sheets/ADuM1280_1281_1285_1286.pdf
+$ENDCMP
+#
+$CMP MC74AC125DG
+F https://www.onsemi.com/pdf/datasheet/mc74ac125-d.pdf
+$ENDCMP
+#
+$CMP SC0915-PI-Pico
+F https://datasheets.raspberrypi.com/pico/pico-datasheet.pdf
+$ENDCMP
+#
+$CMP SMA6J5.0A
+F https://www.bourns.com/docs/Product-Datasheets/SMA6J-Q.pdf
+$ENDCMP
+#
+$CMP SMDJ5.0A
+F https://www.littelfuse.com/~/media/electronics/datasheets/tvs_diodes/littelfuse_tvs_diode_smdj_datasheet.pdf.pdf
+$ENDCMP
+#
+$CMP SN74HC14DR
+F https://www.ti.com/lit/ds/symlink/sn74hc14.pdf?ts=1638729416007&ref_url=https%253A%252F%252Fwww.ti.com%252Fproduct%252FSN74HC14%253Futm_source%253Dsupplyframe%2526utm_medium%253DSEP%2526utm_campaign%253Dnot_alldatasheet%2526DCM%253Dyes%2526dclid%253DCJaqqtumzfQCFTscBgAdv3YIfQ
+$ENDCMP
+#
+#End Doc Library
diff --git a/motors/RspPiPicoIMU/RspPiPicoIMU.kicad_pcb b/motors/RspPiPicoIMU/RspPiPicoIMU.kicad_pcb
new file mode 100644
index 0000000..57b56f2
--- /dev/null
+++ b/motors/RspPiPicoIMU/RspPiPicoIMU.kicad_pcb
@@ -0,0 +1,9224 @@
+(kicad_pcb (version 20171130) (host pcbnew 5.1.12-84ad8e8a86~92~ubuntu20.04.1)
+
+ (general
+ (thickness 1.6)
+ (drawings 69)
+ (tracks 1174)
+ (zones 0)
+ (modules 113)
+ (nets 92)
+ )
+
+ (page A)
+ (title_block
+ (title "Raspberry PI Pico IMU")
+ (date 2021-12-18)
+ (rev 1.0)
+ (company "Spartan 971")
+ )
+
+ (layers
+ (0 F.Cu signal)
+ (1 In1.Cu power)
+ (2 In2.Cu power)
+ (31 B.Cu signal)
+ (32 B.Adhes user hide)
+ (33 F.Adhes user hide)
+ (34 B.Paste user hide)
+ (35 F.Paste user hide)
+ (36 B.SilkS user hide)
+ (37 F.SilkS user hide)
+ (38 B.Mask user hide)
+ (39 F.Mask user hide)
+ (40 Dwgs.User user hide)
+ (41 Cmts.User user hide)
+ (42 Eco1.User user hide)
+ (43 Eco2.User user hide)
+ (44 Edge.Cuts user)
+ (45 Margin user hide)
+ (46 B.CrtYd user hide)
+ (47 F.CrtYd user hide)
+ (48 B.Fab user hide)
+ (49 F.Fab user hide)
+ )
+
+ (setup
+ (last_trace_width 0.381)
+ (user_trace_width 0.2032)
+ (user_trace_width 0.254)
+ (user_trace_width 0.381)
+ (user_trace_width 0.508)
+ (user_trace_width 1.016)
+ (trace_clearance 0.254)
+ (zone_clearance 0.3048)
+ (zone_45_only no)
+ (trace_min 0.254)
+ (via_size 1.016)
+ (via_drill 0.508)
+ (via_min_size 0.3048)
+ (via_min_drill 0.3)
+ (user_via 0.7112 0.3048)
+ (user_via 1.016 0.508)
+ (uvia_size 0.3)
+ (uvia_drill 0.1)
+ (uvias_allowed no)
+ (uvia_min_size 0.2)
+ (uvia_min_drill 0.1)
+ (edge_width 0.05)
+ (segment_width 0.2)
+ (pcb_text_width 0.3)
+ (pcb_text_size 1.5 1.5)
+ (mod_edge_width 0.12)
+ (mod_text_size 1 1)
+ (mod_text_width 0.15)
+ (pad_size 2 3.8)
+ (pad_drill 0)
+ (pad_to_mask_clearance 0)
+ (aux_axis_origin 93.345 66.04)
+ (grid_origin 93.345 66.04)
+ (visible_elements FFFFFF7F)
+ (pcbplotparams
+ (layerselection 0x010fc_ffffffff)
+ (usegerberextensions true)
+ (usegerberattributes false)
+ (usegerberadvancedattributes false)
+ (creategerberjobfile false)
+ (excludeedgelayer true)
+ (linewidth 0.100000)
+ (plotframeref false)
+ (viasonmask false)
+ (mode 1)
+ (useauxorigin false)
+ (hpglpennumber 1)
+ (hpglpenspeed 20)
+ (hpglpendiameter 15.000000)
+ (psnegative false)
+ (psa4output false)
+ (plotreference true)
+ (plotvalue true)
+ (plotinvisibletext false)
+ (padsonsilk false)
+ (subtractmaskfromsilk true)
+ (outputformat 1)
+ (mirror false)
+ (drillshape 0)
+ (scaleselection 1)
+ (outputdirectory "pi-pico-imu-gerbers/"))
+ )
+
+ (net 0 "")
+ (net 1 GND)
+ (net 2 +3V3)
+ (net 3 +5V)
+ (net 4 +5VD)
+ (net 5 GNDD)
+ (net 6 "Net-(C7-Pad2)")
+ (net 7 "Net-(C8-Pad2)")
+ (net 8 "Net-(C9-Pad2)")
+ (net 9 "Net-(C10-Pad2)")
+ (net 10 "Net-(D1-Pad2)")
+ (net 11 "Net-(D2-Pad2)")
+ (net 12 "Net-(D3-Pad2)")
+ (net 13 "Net-(D4-Pad2)")
+ (net 14 "Net-(D5-Pad2)")
+ (net 15 "Net-(D6-Pad1)")
+ (net 16 "Net-(D15-Pad2)")
+ (net 17 "Net-(D16-Pad2)")
+ (net 18 "Net-(D17-Pad2)")
+ (net 19 "Net-(D18-Pad2)")
+ (net 20 "Net-(D19-Pad2)")
+ (net 21 "Net-(D20-Pad2)")
+ (net 22 "Net-(D24-Pad2)")
+ (net 23 "Net-(D26-Pad2)")
+ (net 24 /DR_H)
+ (net 25 /MOSI_H)
+ (net 26 /MISO_H)
+ (net 27 /SCK_H)
+ (net 28 /CS_H)
+ (net 29 /DR_L)
+ (net 30 /MOSI_L)
+ (net 31 /MISO_L)
+ (net 32 /SCK_L)
+ (net 33 /CS_L)
+ (net 34 /EN1A)
+ (net 35 /EN1B)
+ (net 36 /EN2B)
+ (net 37 /EN2A)
+ (net 38 /EN1A-RIO)
+ (net 39 /EN1B-RIO)
+ (net 40 /EN2A-RIO)
+ (net 41 /EN2B-RIO)
+ (net 42 /RATE-PWM-RIO)
+ (net 43 /HEADING_PWM_RIO)
+ (net 44 /MOSI_PI)
+ (net 45 "Net-(R1-Pad1)")
+ (net 46 "Net-(R3-Pad2)")
+ (net 47 "Net-(R4-Pad2)")
+ (net 48 "Net-(R5-Pad2)")
+ (net 49 "Net-(R6-Pad2)")
+ (net 50 "Net-(R7-Pad2)")
+ (net 51 "Net-(R8-Pad1)")
+ (net 52 /SCK_PI)
+ (net 53 "Net-(R11-Pad1)")
+ (net 54 /DR_PI)
+ (net 55 "Net-(R12-Pad2)")
+ (net 56 "Net-(R13-Pad1)")
+ (net 57 "Net-(R14-Pad1)")
+ (net 58 "Net-(R15-Pad2)")
+ (net 59 /MISO_PI)
+ (net 60 "Net-(R16-Pad1)")
+ (net 61 "Net-(R17-Pad1)")
+ (net 62 /CS_PIn)
+ (net 63 "Net-(R18-Pad1)")
+ (net 64 "Net-(R20-Pad1)")
+ (net 65 "Net-(R21-Pad1)")
+ (net 66 "Net-(R26-Pad1)")
+ (net 67 /ENC1-A)
+ (net 68 /RATE_PWM)
+ (net 69 /ENC1-B)
+ (net 70 /HEADING_PWM)
+ (net 71 /ENC2-A)
+ (net 72 /ENC2-B)
+ (net 73 "Net-(R37-Pad2)")
+ (net 74 "Net-(R38-Pad2)")
+ (net 75 "Net-(R39-Pad2)")
+ (net 76 "Net-(R40-Pad2)")
+ (net 77 "Net-(R41-Pad2)")
+ (net 78 "Net-(R42-Pad2)")
+ (net 79 "Net-(R43-Pad2)")
+ (net 80 "Net-(R48-Pad2)")
+ (net 81 "Net-(U11-Pad3)")
+ (net 82 "Net-(U11-Pad9)")
+ (net 83 "Net-(U11-Pad1)")
+ (net 84 /RST_IMU)
+ (net 85 /DR_IMU)
+ (net 86 /SYNC_IMU)
+ (net 87 /DIN_IMU)
+ (net 88 /DOUT_IMU)
+ (net 89 /SCLK_IMU)
+ (net 90 /CS_IMU)
+ (net 91 "Net-(U11-Pad5)")
+
+ (net_class Default "This is the default net class."
+ (clearance 0.254)
+ (trace_width 0.381)
+ (via_dia 1.016)
+ (via_drill 0.508)
+ (uvia_dia 0.3)
+ (uvia_drill 0.1)
+ (add_net +5V)
+ (add_net +5VD)
+ (add_net /CS_H)
+ (add_net /CS_L)
+ (add_net /CS_PIn)
+ (add_net /DR_H)
+ (add_net /DR_L)
+ (add_net /DR_PI)
+ (add_net /EN1A)
+ (add_net /EN1A-RIO)
+ (add_net /EN1B)
+ (add_net /EN1B-RIO)
+ (add_net /EN2A)
+ (add_net /EN2A-RIO)
+ (add_net /EN2B)
+ (add_net /EN2B-RIO)
+ (add_net /ENC1-A)
+ (add_net /ENC1-B)
+ (add_net /ENC2-A)
+ (add_net /ENC2-B)
+ (add_net /HEADING_PWM)
+ (add_net /HEADING_PWM_RIO)
+ (add_net /MISO_H)
+ (add_net /MISO_L)
+ (add_net /MISO_PI)
+ (add_net /MOSI_H)
+ (add_net /MOSI_L)
+ (add_net /MOSI_PI)
+ (add_net /RATE-PWM-RIO)
+ (add_net /RATE_PWM)
+ (add_net /SCK_H)
+ (add_net /SCK_L)
+ (add_net /SCK_PI)
+ (add_net GNDD)
+ (add_net "Net-(C10-Pad2)")
+ (add_net "Net-(C7-Pad2)")
+ (add_net "Net-(C8-Pad2)")
+ (add_net "Net-(C9-Pad2)")
+ (add_net "Net-(D1-Pad2)")
+ (add_net "Net-(D15-Pad2)")
+ (add_net "Net-(D16-Pad2)")
+ (add_net "Net-(D17-Pad2)")
+ (add_net "Net-(D18-Pad2)")
+ (add_net "Net-(D19-Pad2)")
+ (add_net "Net-(D2-Pad2)")
+ (add_net "Net-(D20-Pad2)")
+ (add_net "Net-(D24-Pad2)")
+ (add_net "Net-(D26-Pad2)")
+ (add_net "Net-(D3-Pad2)")
+ (add_net "Net-(D4-Pad2)")
+ (add_net "Net-(D5-Pad2)")
+ (add_net "Net-(D6-Pad1)")
+ (add_net "Net-(R1-Pad1)")
+ (add_net "Net-(R11-Pad1)")
+ (add_net "Net-(R12-Pad2)")
+ (add_net "Net-(R13-Pad1)")
+ (add_net "Net-(R14-Pad1)")
+ (add_net "Net-(R15-Pad2)")
+ (add_net "Net-(R16-Pad1)")
+ (add_net "Net-(R17-Pad1)")
+ (add_net "Net-(R18-Pad1)")
+ (add_net "Net-(R20-Pad1)")
+ (add_net "Net-(R21-Pad1)")
+ (add_net "Net-(R26-Pad1)")
+ (add_net "Net-(R3-Pad2)")
+ (add_net "Net-(R37-Pad2)")
+ (add_net "Net-(R38-Pad2)")
+ (add_net "Net-(R39-Pad2)")
+ (add_net "Net-(R4-Pad2)")
+ (add_net "Net-(R40-Pad2)")
+ (add_net "Net-(R41-Pad2)")
+ (add_net "Net-(R42-Pad2)")
+ (add_net "Net-(R43-Pad2)")
+ (add_net "Net-(R48-Pad2)")
+ (add_net "Net-(R5-Pad2)")
+ (add_net "Net-(R6-Pad2)")
+ (add_net "Net-(R7-Pad2)")
+ (add_net "Net-(R8-Pad1)")
+ (add_net "Net-(U1-Pad12)")
+ (add_net "Net-(U11-Pad1)")
+ (add_net "Net-(U11-Pad3)")
+ (add_net "Net-(U11-Pad5)")
+ (add_net "Net-(U11-Pad9)")
+ (add_net "Net-(U4-Pad20)")
+ (add_net "Net-(U4-Pad31)")
+ (add_net "Net-(U4-Pad32)")
+ (add_net "Net-(U4-Pad34)")
+ (add_net "Net-(U4-Pad35)")
+ (add_net "Net-(U4-Pad36)")
+ (add_net "Net-(U4-Pad37)")
+ (add_net "Net-(U4-Pad40)")
+ (add_net "Net-(U4-PadD1)")
+ (add_net "Net-(U4-PadD2)")
+ (add_net "Net-(U4-PadD3)")
+ (add_net "Net-(U5-PadA10)")
+ (add_net "Net-(U5-PadA9)")
+ (add_net "Net-(U5-PadB1)")
+ (add_net "Net-(U5-PadB10)")
+ (add_net "Net-(U5-PadB2)")
+ (add_net "Net-(U5-PadB7)")
+ (add_net "Net-(U5-PadB8)")
+ (add_net "Net-(U5-PadB9)")
+ (add_net "Net-(U5-PadC1)")
+ (add_net "Net-(U5-PadC10)")
+ (add_net "Net-(U5-PadC3)")
+ (add_net "Net-(U5-PadC4)")
+ (add_net "Net-(U5-PadC5)")
+ (add_net "Net-(U5-PadC8)")
+ (add_net "Net-(U5-PadC9)")
+ (add_net "Net-(U5-PadD1)")
+ (add_net "Net-(U5-PadD10)")
+ (add_net "Net-(U5-PadD2)")
+ (add_net "Net-(U5-PadD4)")
+ (add_net "Net-(U5-PadD5)")
+ (add_net "Net-(U5-PadD7)")
+ (add_net "Net-(U5-PadD8)")
+ (add_net "Net-(U5-PadD9)")
+ (add_net "Net-(U5-PadE1)")
+ (add_net "Net-(U5-PadE10)")
+ (add_net "Net-(U5-PadE4)")
+ (add_net "Net-(U5-PadE5)")
+ (add_net "Net-(U5-PadE8)")
+ (add_net "Net-(U5-PadE9)")
+ (add_net "Net-(U5-PadF10)")
+ (add_net "Net-(U5-PadF2)")
+ (add_net "Net-(U5-PadF4)")
+ (add_net "Net-(U5-PadF7)")
+ (add_net "Net-(U5-PadF9)")
+ (add_net "Net-(U5-PadG10)")
+ (add_net "Net-(U5-PadG4)")
+ (add_net "Net-(U5-PadG5)")
+ (add_net "Net-(U5-PadG8)")
+ (add_net "Net-(U5-PadG9)")
+ (add_net "Net-(U5-PadH10)")
+ (add_net "Net-(U5-PadH2)")
+ (add_net "Net-(U5-PadH4)")
+ (add_net "Net-(U5-PadH5)")
+ (add_net "Net-(U5-PadH7)")
+ (add_net "Net-(U5-PadH9)")
+ (add_net "Net-(U5-PadJ1)")
+ (add_net "Net-(U5-PadJ10)")
+ (add_net "Net-(U5-PadJ8)")
+ (add_net "Net-(U5-PadJ9)")
+ (add_net "Net-(U5-PadK10)")
+ (add_net "Net-(U5-PadK2)")
+ (add_net "Net-(U5-PadK4)")
+ (add_net "Net-(U5-PadK5)")
+ (add_net "Net-(U5-PadK7)")
+ (add_net "Net-(U5-PadK9)")
+ (add_net "Net-(U6-Pad5)")
+ (add_net "Net-(U6-Pad6)")
+ (add_net "Net-(U8-Pad12)")
+ (add_net "Net-(U8-Pad6)")
+ )
+
+ (net_class BGA_signals ""
+ (clearance 0.254)
+ (trace_width 0.254)
+ (via_dia 0.7112)
+ (via_drill 0.3048)
+ (uvia_dia 0.3)
+ (uvia_drill 0.1)
+ (add_net +3V3)
+ (add_net /CS_IMU)
+ (add_net /DIN_IMU)
+ (add_net /DOUT_IMU)
+ (add_net /DR_IMU)
+ (add_net /RST_IMU)
+ (add_net /SCLK_IMU)
+ (add_net /SYNC_IMU)
+ (add_net GND)
+ )
+
+ (module MountingHole:MountingHole_3.2mm_M3 (layer F.Cu) (tedit 56D1B4CB) (tstamp 61BDABA6)
+ (at 137.795 95.25)
+ (descr "Mounting Hole 3.2mm, no annular, M3")
+ (tags "mounting hole 3.2mm no annular m3")
+ (path /63A57053)
+ (attr virtual)
+ (fp_text reference H4 (at 0 -4.2) (layer F.SilkS) hide
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value "MountingHole M3" (at 0 4.2) (layer F.Fab) hide
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_circle (center 0 0) (end 3.45 0) (layer F.CrtYd) (width 0.05))
+ (fp_circle (center 0 0) (end 3.2 0) (layer Cmts.User) (width 0.15))
+ (fp_text user %R (at 0.3 0) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (pad 1 np_thru_hole circle (at 0 0) (size 3.2 3.2) (drill 3.2) (layers *.Cu *.Mask))
+ )
+
+ (module RspPiPicoIMU:BGA-100_10x10_15.0x15.0mm (layer F.Cu) (tedit 61B1BAAA) (tstamp 61B30191)
+ (at 116.84 102.235 90)
+ (path /61AE0FF9)
+ (attr smd)
+ (fp_text reference U5 (at -4.953 -8.763 90) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value ADIS16505-3BMLZ (at -8.636 0.254 180) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start -7.75 7.75) (end -7.75 -7.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 7.75 7.75) (end -7.75 7.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 7.75 -7.75) (end 7.75 7.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -7.75 -7.75) (end 7.75 -7.75) (layer F.CrtYd) (width 0.05))
+ (fp_circle (center -7.5 -7.5) (end -7.5 -7.4) (layer F.SilkS) (width 0.2))
+ (fp_line (start -7.62 -6.5) (end -7.62 -3.87) (layer F.SilkS) (width 0.12))
+ (fp_line (start -6.5 -7.62) (end -7.62 -6.5) (layer F.SilkS) (width 0.12))
+ (fp_line (start -3.87 -7.62) (end -6.5 -7.62) (layer F.SilkS) (width 0.12))
+ (fp_line (start -7.62 7.62) (end -7.62 3.87) (layer F.SilkS) (width 0.12))
+ (fp_line (start -3.87 7.62) (end -7.62 7.62) (layer F.SilkS) (width 0.12))
+ (fp_line (start 7.62 -7.62) (end 7.62 -3.87) (layer F.SilkS) (width 0.12))
+ (fp_line (start 3.87 -7.62) (end 7.62 -7.62) (layer F.SilkS) (width 0.12))
+ (fp_line (start 7.62 7.62) (end 7.62 3.87) (layer F.SilkS) (width 0.12))
+ (fp_line (start 3.87 7.62) (end 7.62 7.62) (layer F.SilkS) (width 0.12))
+ (fp_line (start 7.62 -7.62) (end 7.62 -3.87) (layer F.SilkS) (width 0.12))
+ (fp_line (start 3.87 -7.62) (end 7.62 -7.62) (layer F.SilkS) (width 0.12))
+ (fp_line (start 7.62 -7.62) (end 7.62 -3.87) (layer F.SilkS) (width 0.12))
+ (fp_line (start 3.87 -7.62) (end 7.62 -7.62) (layer F.SilkS) (width 0.12))
+ (fp_line (start 7.5 -7.5) (end -6.5 -7.5) (layer F.Fab) (width 0.1))
+ (fp_line (start 7.5 7.5) (end 7.5 -7.5) (layer F.Fab) (width 0.1))
+ (fp_line (start -7.5 7.5) (end 7.5 7.5) (layer F.Fab) (width 0.1))
+ (fp_line (start -7.5 -6.5) (end -7.5 7.5) (layer F.Fab) (width 0.1))
+ (fp_line (start -6.5 -7.5) (end -7.5 -6.5) (layer F.Fab) (width 0.1))
+ (pad K10 smd circle (at 5.715 5.715 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad J10 smd circle (at 5.715 4.445 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad H10 smd circle (at 5.715 3.175 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad G10 smd circle (at 5.715 1.905 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad F10 smd circle (at 5.715 0.635 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad E10 smd circle (at 5.715 -0.635 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad D10 smd circle (at 5.715 -1.905 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad C10 smd circle (at 5.715 -3.175 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad B10 smd circle (at 5.715 -4.445 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad A10 smd circle (at 5.715 -5.715 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad K9 smd circle (at 4.445 5.715 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad J9 smd circle (at 4.445 4.445 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad H9 smd circle (at 4.445 3.175 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad G9 smd circle (at 4.445 1.905 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad F9 smd circle (at 4.445 0.635 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad E9 smd circle (at 4.445 -0.635 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad D9 smd circle (at 4.445 -1.905 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad C9 smd circle (at 4.445 -3.175 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad B9 smd circle (at 4.445 -4.445 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad A9 smd circle (at 4.445 -5.715 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad K8 smd circle (at 3.175 5.715 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 1 GND) (clearance 0.085))
+ (pad J8 smd circle (at 3.175 4.445 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad H8 smd circle (at 3.175 3.175 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 1 GND) (clearance 0.085))
+ (pad G8 smd circle (at 3.175 1.905 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad F8 smd circle (at 3.175 0.635 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 1 GND) (clearance 0.085))
+ (pad E8 smd circle (at 3.175 -0.635 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad D8 smd circle (at 3.175 -1.905 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad C8 smd circle (at 3.175 -3.175 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad B8 smd circle (at 3.175 -4.445 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad A8 smd circle (at 3.175 -5.715 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 1 GND) (clearance 0.085))
+ (pad K7 smd circle (at 1.905 5.715 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad J7 smd circle (at 1.905 4.445 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 1 GND) (clearance 0.085))
+ (pad H7 smd circle (at 1.905 3.175 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad G7 smd circle (at 1.905 1.905 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 1 GND) (clearance 0.085))
+ (pad F7 smd circle (at 1.905 0.635 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad E7 smd circle (at 1.905 -0.635 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 1 GND) (clearance 0.085))
+ (pad D7 smd circle (at 1.905 -1.905 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad C7 smd circle (at 1.905 -3.175 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 2 +3V3) (clearance 0.085))
+ (pad B7 smd circle (at 1.905 -4.445 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad A7 smd circle (at 1.905 -5.715 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 1 GND) (clearance 0.085))
+ (pad K6 smd circle (at 0.635 5.715 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 2 +3V3) (clearance 0.085))
+ (pad J6 smd circle (at 0.635 4.445 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 85 /DR_IMU) (clearance 0.085))
+ (pad H6 smd circle (at 0.635 3.175 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 89 /SCLK_IMU) (clearance 0.085))
+ (pad G6 smd circle (at 0.635 1.905 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 87 /DIN_IMU) (clearance 0.085))
+ (pad F6 smd circle (at 0.635 0.635 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 1 GND) (clearance 0.085))
+ (pad E6 smd circle (at 0.635 -0.635 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 1 GND) (clearance 0.085))
+ (pad D6 smd circle (at 0.635 -1.905 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 2 +3V3) (clearance 0.085))
+ (pad C6 smd circle (at 0.635 -3.175 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 1 GND) (clearance 0.085))
+ (pad B6 smd circle (at 0.635 -4.445 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 1 GND) (clearance 0.085))
+ (pad A6 smd circle (at 0.635 -5.715 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 1 GND) (clearance 0.085))
+ (pad K5 smd circle (at -0.635 5.715 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad J5 smd circle (at -0.635 4.445 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 2 +3V3) (clearance 0.085))
+ (pad H5 smd circle (at -0.635 3.175 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad G5 smd circle (at -0.635 1.905 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad F5 smd circle (at -0.635 0.635 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 1 GND) (clearance 0.085))
+ (pad E5 smd circle (at -0.635 -0.635 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad D5 smd circle (at -0.635 -1.905 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad C5 smd circle (at -0.635 -3.175 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad B5 smd circle (at -0.635 -4.445 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 1 GND) (clearance 0.085))
+ (pad A5 smd circle (at -0.635 -5.715 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 1 GND) (clearance 0.085))
+ (pad K4 smd circle (at -1.905 5.715 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad J4 smd circle (at -1.905 4.445 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 2 +3V3) (clearance 0.085))
+ (pad H4 smd circle (at -1.905 3.175 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad G4 smd circle (at -1.905 1.905 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad F4 smd circle (at -1.905 0.635 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad E4 smd circle (at -1.905 -0.635 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad D4 smd circle (at -1.905 -1.905 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad C4 smd circle (at -1.905 -3.175 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad B4 smd circle (at -1.905 -4.445 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 1 GND) (clearance 0.085))
+ (pad A4 smd circle (at -1.905 -5.715 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 1 GND) (clearance 0.085))
+ (pad K3 smd circle (at -3.175 5.715 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 1 GND) (clearance 0.085))
+ (pad J3 smd circle (at -3.175 4.445 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 86 /SYNC_IMU) (clearance 0.085))
+ (pad H3 smd circle (at -3.175 3.175 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 88 /DOUT_IMU) (clearance 0.085))
+ (pad G3 smd circle (at -3.175 1.905 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 90 /CS_IMU) (clearance 0.085))
+ (pad F3 smd circle (at -3.175 0.635 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 84 /RST_IMU) (clearance 0.085))
+ (pad E3 smd circle (at -3.175 -0.635 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 2 +3V3) (clearance 0.085))
+ (pad D3 smd circle (at -3.175 -1.905 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 1 GND) (clearance 0.085))
+ (pad C3 smd circle (at -3.175 -3.175 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad B3 smd circle (at -3.175 -4.445 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 1 GND) (clearance 0.085))
+ (pad A3 smd circle (at -3.175 -5.715 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 1 GND) (clearance 0.085))
+ (pad K2 smd circle (at -4.445 5.715 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad J2 smd circle (at -4.445 4.445 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 1 GND) (clearance 0.085))
+ (pad H2 smd circle (at -4.445 3.175 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad G2 smd circle (at -4.445 1.905 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 1 GND) (clearance 0.085))
+ (pad F2 smd circle (at -4.445 0.635 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad E2 smd circle (at -4.445 -0.635 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 1 GND) (clearance 0.085))
+ (pad D2 smd circle (at -4.445 -1.905 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad C2 smd circle (at -4.445 -3.175 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 1 GND) (clearance 0.085))
+ (pad B2 smd circle (at -4.445 -4.445 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad A2 smd circle (at -4.445 -5.715 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 1 GND) (clearance 0.085))
+ (pad K1 smd circle (at -5.715 5.715 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 1 GND) (clearance 0.085))
+ (pad J1 smd circle (at -5.715 4.445 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad H1 smd circle (at -5.715 3.175 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 2 +3V3) (clearance 0.085))
+ (pad G1 smd circle (at -5.715 1.905 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 2 +3V3) (clearance 0.085))
+ (pad F1 smd circle (at -5.715 0.635 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 1 GND) (clearance 0.085))
+ (pad E1 smd circle (at -5.715 -0.635 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad D1 smd circle (at -5.715 -1.905 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad C1 smd circle (at -5.715 -3.175 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad B1 smd circle (at -5.715 -4.445 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad A1 smd circle (at -5.715 -5.715 90) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (net 1 GND) (clearance 0.085))
+ (model ${KIPRJMOD}/ADIS16505-2BMLZ.stp
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Package_SO:SO-14_3.9x8.65mm_P1.27mm (layer F.Cu) (tedit 5F427CE7) (tstamp 61B142B0)
+ (at 101.6 102.87)
+ (descr "SO, 14 Pin (https://www.st.com/resource/en/datasheet/l6491.pdf), generated with kicad-footprint-generator ipc_gullwing_generator.py")
+ (tags "SO SO")
+ (path /61BFC7B3)
+ (attr smd)
+ (fp_text reference U1 (at 0 -5.28) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value CD74ACT14M96 (at 0 5.28) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start 3.7 -4.58) (end -3.7 -4.58) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 3.7 4.58) (end 3.7 -4.58) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -3.7 4.58) (end 3.7 4.58) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -3.7 -4.58) (end -3.7 4.58) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.95 -3.35) (end -0.975 -4.325) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.95 4.325) (end -1.95 -3.35) (layer F.Fab) (width 0.1))
+ (fp_line (start 1.95 4.325) (end -1.95 4.325) (layer F.Fab) (width 0.1))
+ (fp_line (start 1.95 -4.325) (end 1.95 4.325) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.975 -4.325) (end 1.95 -4.325) (layer F.Fab) (width 0.1))
+ (fp_line (start 0 -4.435) (end -3.45 -4.435) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0 -4.435) (end 1.95 -4.435) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0 4.435) (end -1.95 4.435) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0 4.435) (end 1.95 4.435) (layer F.SilkS) (width 0.12))
+ (fp_text user %R (at 0 0) (layer F.Fab)
+ (effects (font (size 0.98 0.98) (thickness 0.15)))
+ )
+ (pad 1 smd roundrect (at -2.475 -3.81) (size 1.95 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 55 "Net-(R12-Pad2)"))
+ (pad 2 smd roundrect (at -2.475 -2.54) (size 1.95 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 46 "Net-(R3-Pad2)"))
+ (pad 3 smd roundrect (at -2.475 -1.27) (size 1.95 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 44 /MOSI_PI))
+ (pad 4 smd roundrect (at -2.475 0) (size 1.95 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 47 "Net-(R4-Pad2)"))
+ (pad 5 smd roundrect (at -2.475 1.27) (size 1.95 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 58 "Net-(R15-Pad2)"))
+ (pad 6 smd roundrect (at -2.475 2.54) (size 1.95 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 48 "Net-(R5-Pad2)"))
+ (pad 7 smd roundrect (at -2.475 3.81) (size 1.95 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 1 GND))
+ (pad 8 smd roundrect (at 2.475 3.81) (size 1.95 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 49 "Net-(R6-Pad2)"))
+ (pad 9 smd roundrect (at 2.475 2.54) (size 1.95 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 52 /SCK_PI))
+ (pad 10 smd roundrect (at 2.475 1.27) (size 1.95 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 50 "Net-(R7-Pad2)"))
+ (pad 11 smd roundrect (at 2.475 0) (size 1.95 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 62 /CS_PIn))
+ (pad 12 smd roundrect (at 2.475 -1.27) (size 1.95 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25))
+ (pad 13 smd roundrect (at 2.475 -2.54) (size 1.95 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 3 +5V))
+ (pad 14 smd roundrect (at 2.475 -3.81) (size 1.95 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 3 +5V))
+ (model ${KISYS3DMOD}/Package_SO.3dshapes/SO-14_3.9x8.65mm_P1.27mm.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ (model ${KIPRJMOD}/D0014A.stp
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer B.Cu) (tedit 5F68FEEE) (tstamp 61B13FA4)
+ (at 99.06 118.11)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /621B22DC)
+ (attr smd)
+ (fp_text reference R6 (at 2.667 0) (layer B.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_text value 1.00K (at 3.683 0.1778) (layer B.Fab)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_line (start 1.68 -0.95) (end -1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 0.95) (end 1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 0.95) (end 1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 -0.95) (end -1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start 1 -0.625) (end -1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end 1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end 1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 -0.625) (end -1 0.625) (layer B.Fab) (width 0.1))
+ (fp_text user %R (at 0 -1.016) (layer B.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)) (justify mirror))
+ )
+ (pad 1 smd roundrect (at -0.9125 0) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 13 "Net-(D4-Pad2)"))
+ (pad 2 smd roundrect (at 0.9125 0) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 49 "Net-(R6-Pad2)"))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module MountingHole:MountingHole_3.2mm_M3 (layer F.Cu) (tedit 56D1B4CB) (tstamp 61B6AD63)
+ (at 97.155 69.85)
+ (descr "Mounting Hole 3.2mm, no annular, M3")
+ (tags "mounting hole 3.2mm no annular m3")
+ (path /63A57053)
+ (attr virtual)
+ (fp_text reference H4 (at 0 -4.2) (layer F.SilkS) hide
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value "MountingHole M3" (at 0 4.2) (layer F.Fab) hide
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_circle (center 0 0) (end 3.45 0) (layer F.CrtYd) (width 0.05))
+ (fp_circle (center 0 0) (end 3.2 0) (layer Cmts.User) (width 0.15))
+ (fp_text user %R (at 0.3 0) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (pad 1 np_thru_hole circle (at 0 0) (size 3.2 3.2) (drill 3.2) (layers *.Cu *.Mask))
+ )
+
+ (module MountingHole:MountingHole_3.2mm_M3 (layer F.Cu) (tedit 56D1B4CB) (tstamp 61B6AD5B)
+ (at 165.735 130.81)
+ (descr "Mounting Hole 3.2mm, no annular, M3")
+ (tags "mounting hole 3.2mm no annular m3")
+ (path /63A56D64)
+ (attr virtual)
+ (fp_text reference H3 (at 0 -4.2) (layer F.SilkS) hide
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value "MountingHole M3" (at 0 4.2) (layer F.Fab) hide
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_circle (center 0 0) (end 3.45 0) (layer F.CrtYd) (width 0.05))
+ (fp_circle (center 0 0) (end 3.2 0) (layer Cmts.User) (width 0.15))
+ (fp_text user %R (at 0.3 0) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (pad 1 np_thru_hole circle (at 0 0) (size 3.2 3.2) (drill 3.2) (layers *.Cu *.Mask))
+ )
+
+ (module MountingHole:MountingHole_3.2mm_M3 (layer F.Cu) (tedit 56D1B4CB) (tstamp 61B6AD53)
+ (at 165.735 69.85)
+ (descr "Mounting Hole 3.2mm, no annular, M3")
+ (tags "mounting hole 3.2mm no annular m3")
+ (path /63A56A43)
+ (attr virtual)
+ (fp_text reference H2 (at 0 -4.2) (layer F.SilkS) hide
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value "MountingHole M3" (at 0 4.2) (layer F.Fab) hide
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_circle (center 0 0) (end 3.45 0) (layer F.CrtYd) (width 0.05))
+ (fp_circle (center 0 0) (end 3.2 0) (layer Cmts.User) (width 0.15))
+ (fp_text user %R (at 0.3 0) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (pad 1 np_thru_hole circle (at 0 0) (size 3.2 3.2) (drill 3.2) (layers *.Cu *.Mask))
+ )
+
+ (module MountingHole:MountingHole_3.2mm_M3 (layer F.Cu) (tedit 56D1B4CB) (tstamp 61B6AD4B)
+ (at 97.155 130.81)
+ (descr "Mounting Hole 3.2mm, no annular, M3")
+ (tags "mounting hole 3.2mm no annular m3")
+ (path /63A4F915)
+ (attr virtual)
+ (fp_text reference H1 (at 0 -4.2) (layer F.SilkS) hide
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value "MountingHole M3" (at 0 4.2) (layer F.Fab) hide
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_circle (center 0 0) (end 3.45 0) (layer F.CrtYd) (width 0.05))
+ (fp_circle (center 0 0) (end 3.2 0) (layer Cmts.User) (width 0.15))
+ (fp_text user %R (at 0.3 0) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (pad 1 np_thru_hole circle (at 0 0) (size 3.2 3.2) (drill 3.2) (layers *.Cu *.Mask))
+ )
+
+ (module Package_SO:SO-14_3.9x8.65mm_P1.27mm (layer F.Cu) (tedit 5F427CE7) (tstamp 61B68E35)
+ (at 140.97 119.38 270)
+ (descr "SO, 14 Pin (https://www.st.com/resource/en/datasheet/l6491.pdf), generated with kicad-footprint-generator ipc_gullwing_generator.py")
+ (tags "SO SO")
+ (path /625F924E)
+ (attr smd)
+ (fp_text reference U11 (at -4.445 0.254 180) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value CD74ACT14M96 (at 4.445 -0.127 180) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start 3.7 -4.58) (end -3.7 -4.58) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 3.7 4.58) (end 3.7 -4.58) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -3.7 4.58) (end 3.7 4.58) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -3.7 -4.58) (end -3.7 4.58) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.95 -3.35) (end -0.975 -4.325) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.95 4.325) (end -1.95 -3.35) (layer F.Fab) (width 0.1))
+ (fp_line (start 1.95 4.325) (end -1.95 4.325) (layer F.Fab) (width 0.1))
+ (fp_line (start 1.95 -4.325) (end 1.95 4.325) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.975 -4.325) (end 1.95 -4.325) (layer F.Fab) (width 0.1))
+ (fp_line (start 0 -4.435) (end -3.45 -4.435) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0 -4.435) (end 1.95 -4.435) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0 4.435) (end -1.95 4.435) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0 4.435) (end 1.95 4.435) (layer F.SilkS) (width 0.12))
+ (fp_text user %R (at 0 0 180) (layer F.Fab)
+ (effects (font (size 0.98 0.98) (thickness 0.15)))
+ )
+ (pad 14 smd roundrect (at 2.475 -3.81 270) (size 1.95 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 4 +5VD))
+ (pad 13 smd roundrect (at 2.475 -2.54 270) (size 1.95 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 80 "Net-(R48-Pad2)"))
+ (pad 12 smd roundrect (at 2.475 -1.27 270) (size 1.95 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 78 "Net-(R42-Pad2)"))
+ (pad 11 smd roundrect (at 2.475 0 270) (size 1.95 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 77 "Net-(R41-Pad2)"))
+ (pad 10 smd roundrect (at 2.475 1.27 270) (size 1.95 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 79 "Net-(R43-Pad2)"))
+ (pad 9 smd roundrect (at 2.475 2.54 270) (size 1.95 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 82 "Net-(U11-Pad9)"))
+ (pad 8 smd roundrect (at 2.475 3.81 270) (size 1.95 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 76 "Net-(R40-Pad2)"))
+ (pad 7 smd roundrect (at -2.475 3.81 270) (size 1.95 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 5 GNDD))
+ (pad 6 smd roundrect (at -2.475 2.54 270) (size 1.95 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 75 "Net-(R39-Pad2)"))
+ (pad 5 smd roundrect (at -2.475 1.27 270) (size 1.95 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 91 "Net-(U11-Pad5)"))
+ (pad 4 smd roundrect (at -2.475 0 270) (size 1.95 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 74 "Net-(R38-Pad2)"))
+ (pad 3 smd roundrect (at -2.475 -1.27 270) (size 1.95 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 81 "Net-(U11-Pad3)"))
+ (pad 2 smd roundrect (at -2.475 -2.54 270) (size 1.95 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 73 "Net-(R37-Pad2)"))
+ (pad 1 smd roundrect (at -2.475 -3.81 270) (size 1.95 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 83 "Net-(U11-Pad1)"))
+ (model ${KISYS3DMOD}/Package_SO.3dshapes/SO-14_3.9x8.65mm_P1.27mm.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ (model ${KIPRJMOD}/D0014A.stp
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Package_SO:SO-14_3.9x8.65mm_P1.27mm (layer F.Cu) (tedit 5F427CE7) (tstamp 61B68DE3)
+ (at 140.97 105.41 270)
+ (descr "SO, 14 Pin (https://www.st.com/resource/en/datasheet/l6491.pdf), generated with kicad-footprint-generator ipc_gullwing_generator.py")
+ (tags "SO SO")
+ (path /625A44DB)
+ (attr smd)
+ (fp_text reference U8 (at -4.699 0.254 180) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value CD74ACT14M96 (at 4.445 -0.254 180) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start 3.7 -4.58) (end -3.7 -4.58) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 3.7 4.58) (end 3.7 -4.58) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -3.7 4.58) (end 3.7 4.58) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -3.7 -4.58) (end -3.7 4.58) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.95 -3.35) (end -0.975 -4.325) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.95 4.325) (end -1.95 -3.35) (layer F.Fab) (width 0.1))
+ (fp_line (start 1.95 4.325) (end -1.95 4.325) (layer F.Fab) (width 0.1))
+ (fp_line (start 1.95 -4.325) (end 1.95 4.325) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.975 -4.325) (end 1.95 -4.325) (layer F.Fab) (width 0.1))
+ (fp_line (start 0 -4.435) (end -3.45 -4.435) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0 -4.435) (end 1.95 -4.435) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0 4.435) (end -1.95 4.435) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0 4.435) (end 1.95 4.435) (layer F.SilkS) (width 0.12))
+ (fp_text user %R (at 0 0 180) (layer F.Fab)
+ (effects (font (size 0.98 0.98) (thickness 0.15)))
+ )
+ (pad 14 smd roundrect (at 2.475 -3.81 270) (size 1.95 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 4 +5VD))
+ (pad 13 smd roundrect (at 2.475 -2.54 270) (size 1.95 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 5 GNDD))
+ (pad 12 smd roundrect (at 2.475 -1.27 270) (size 1.95 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25))
+ (pad 11 smd roundrect (at 2.475 0 270) (size 1.95 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 9 "Net-(C10-Pad2)"))
+ (pad 10 smd roundrect (at 2.475 1.27 270) (size 1.95 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 82 "Net-(U11-Pad9)"))
+ (pad 9 smd roundrect (at 2.475 2.54 270) (size 1.95 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 8 "Net-(C9-Pad2)"))
+ (pad 8 smd roundrect (at 2.475 3.81 270) (size 1.95 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 91 "Net-(U11-Pad5)"))
+ (pad 7 smd roundrect (at -2.475 3.81 270) (size 1.95 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 5 GNDD))
+ (pad 6 smd roundrect (at -2.475 2.54 270) (size 1.95 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25))
+ (pad 5 smd roundrect (at -2.475 1.27 270) (size 1.95 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 5 GNDD))
+ (pad 4 smd roundrect (at -2.475 0 270) (size 1.95 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 81 "Net-(U11-Pad3)"))
+ (pad 3 smd roundrect (at -2.475 -1.27 270) (size 1.95 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 7 "Net-(C8-Pad2)"))
+ (pad 2 smd roundrect (at -2.475 -2.54 270) (size 1.95 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 83 "Net-(U11-Pad1)"))
+ (pad 1 smd roundrect (at -2.475 -3.81 270) (size 1.95 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 6 "Net-(C7-Pad2)"))
+ (model ${KISYS3DMOD}/Package_SO.3dshapes/SO-14_3.9x8.65mm_P1.27mm.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ (model ${KIPRJMOD}/D0014A.stp
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Package_SO:SO-8_3.9x4.9mm_P1.27mm (layer F.Cu) (tedit 61B2F9DA) (tstamp 61B14415)
+ (at 129.54 118.11 180)
+ (descr "SO, 8 Pin (https://www.nxp.com/docs/en/data-sheet/PCF8523.pdf), generated with kicad-footprint-generator ipc_gullwing_generator.py")
+ (tags "SO SO")
+ (path /61E4B29D)
+ (attr smd)
+ (fp_text reference U9 (at 5.334 0.127) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value ADUM1280ARZ (at -0.635 3.048) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start 3.7 -2.7) (end -3.7 -2.7) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 3.7 2.7) (end 3.7 -2.7) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -3.7 2.7) (end 3.7 2.7) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -3.7 -2.7) (end -3.7 2.7) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.95 -1.475) (end -0.975 -2.45) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.95 2.45) (end -1.95 -1.475) (layer F.Fab) (width 0.1))
+ (fp_line (start 1.95 2.45) (end -1.95 2.45) (layer F.Fab) (width 0.1))
+ (fp_line (start 1.95 -2.45) (end 1.95 2.45) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.975 -2.45) (end 1.95 -2.45) (layer F.Fab) (width 0.1))
+ (fp_line (start 0 -2.56) (end -3.45 -2.56) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0 -2.56) (end 1.95 -2.56) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0 2.56) (end -1.95 2.56) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0 2.56) (end 1.95 2.56) (layer F.SilkS) (width 0.12))
+ (fp_text user %R (at 0 0) (layer F.Fab)
+ (effects (font (size 0.98 0.98) (thickness 0.15)))
+ )
+ (pad 1 smd roundrect (at -2.575 -1.905 180) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 4 +5VD))
+ (pad 2 smd roundrect (at -2.575 -0.635 180) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 91 "Net-(U11-Pad5)"))
+ (pad 3 smd roundrect (at -2.575 0.635 180) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 82 "Net-(U11-Pad9)"))
+ (pad 4 smd roundrect (at -2.575 1.905 180) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 5 GNDD))
+ (pad 5 smd roundrect (at 2.575 1.905 180) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 1 GND))
+ (pad 6 smd roundrect (at 2.575 0.635 180) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 72 /ENC2-B))
+ (pad 7 smd roundrect (at 2.575 -0.635 180) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 71 /ENC2-A))
+ (pad 8 smd roundrect (at 2.575 -1.905 180) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 2 +3V3))
+ (model ${KISYS3DMOD}/Package_SO.3dshapes/SO-8_3.9x4.9mm_P1.27mm.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ (model ${KIPRJMOD}/R_8_ADI.step
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Capacitor_SMD:C_0805_2012Metric (layer F.Cu) (tedit 5F68FEEE) (tstamp 61B13A1F)
+ (at 111.76 87.63 270)
+ (descr "Capacitor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf, https://docs.google.com/spreadsheets/d/1BsfQQcO9C6DZCsRaXUlFlo91Tg2WpOkGARC1WS5S8t0/edit?usp=sharing), generated with kicad-footprint-generator")
+ (tags capacitor)
+ (path /61C25336)
+ (attr smd)
+ (fp_text reference C1 (at 3.937 -0.127 90) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value 0.1uF (at 3.683 -0.127 90) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start -1 0.625) (end -1 -0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start -1 -0.625) (end 1 -0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start 1 -0.625) (end 1 0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end -1 0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.261252 -0.735) (end 0.261252 -0.735) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.261252 0.735) (end 0.261252 0.735) (layer F.SilkS) (width 0.12))
+ (fp_line (start -1.7 0.98) (end -1.7 -0.98) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.7 -0.98) (end 1.7 -0.98) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 1.7 -0.98) (end 1.7 0.98) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 1.7 0.98) (end -1.7 0.98) (layer F.CrtYd) (width 0.05))
+ (fp_text user %R (at -1.778 -0.127 180) (layer F.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)))
+ )
+ (pad 2 smd roundrect (at 0.95 0 270) (size 1 1.45) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 1 GND))
+ (pad 1 smd roundrect (at -0.95 0 270) (size 1 1.45) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 2 +3V3))
+ (model ${KISYS3DMOD}/Capacitor_SMD.3dshapes/C_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Capacitor_SMD:C_0805_2012Metric (layer B.Cu) (tedit 5F68FEEE) (tstamp 61B13A30)
+ (at 102.87 101.6 270)
+ (descr "Capacitor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf, https://docs.google.com/spreadsheets/d/1BsfQQcO9C6DZCsRaXUlFlo91Tg2WpOkGARC1WS5S8t0/edit?usp=sharing), generated with kicad-footprint-generator")
+ (tags capacitor)
+ (path /62EB1A3F)
+ (attr smd)
+ (fp_text reference C2 (at 0 2.032 180) (layer B.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_text value 0.1uF (at 0.127 2.794 180) (layer B.Fab)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_line (start 1.7 -0.98) (end -1.7 -0.98) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.7 0.98) (end 1.7 -0.98) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.7 0.98) (end 1.7 0.98) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.7 -0.98) (end -1.7 0.98) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -0.261252 -0.735) (end 0.261252 -0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -0.261252 0.735) (end 0.261252 0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start 1 -0.625) (end -1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end 1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end 1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 -0.625) (end -1 0.625) (layer B.Fab) (width 0.1))
+ (fp_text user %R (at 0 -1.27 180) (layer B.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)) (justify mirror))
+ )
+ (pad 1 smd roundrect (at -0.95 0 270) (size 1 1.45) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.25)
+ (net 3 +5V))
+ (pad 2 smd roundrect (at 0.95 0 270) (size 1 1.45) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.25)
+ (net 1 GND))
+ (model ${KISYS3DMOD}/Capacitor_SMD.3dshapes/C_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Capacitor_SMD:C_0805_2012Metric (layer F.Cu) (tedit 5F68FEEE) (tstamp 61B13A41)
+ (at 120.015 87.63 270)
+ (descr "Capacitor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf, https://docs.google.com/spreadsheets/d/1BsfQQcO9C6DZCsRaXUlFlo91Tg2WpOkGARC1WS5S8t0/edit?usp=sharing), generated with kicad-footprint-generator")
+ (tags capacitor)
+ (path /61C46239)
+ (attr smd)
+ (fp_text reference C3 (at 3.683 -0.127 90) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value 0.1uF (at 3.81 0 90) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start 1.7 0.98) (end -1.7 0.98) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 1.7 -0.98) (end 1.7 0.98) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.7 -0.98) (end 1.7 -0.98) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.7 0.98) (end -1.7 -0.98) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -0.261252 0.735) (end 0.261252 0.735) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.261252 -0.735) (end 0.261252 -0.735) (layer F.SilkS) (width 0.12))
+ (fp_line (start 1 0.625) (end -1 0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start 1 -0.625) (end 1 0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start -1 -0.625) (end 1 -0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end -1 -0.625) (layer F.Fab) (width 0.1))
+ (fp_text user %R (at -1.778 0.127 180) (layer F.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)))
+ )
+ (pad 1 smd roundrect (at -0.95 0 270) (size 1 1.45) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 2 +3V3))
+ (pad 2 smd roundrect (at 0.95 0 270) (size 1 1.45) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 1 GND))
+ (model ${KISYS3DMOD}/Capacitor_SMD.3dshapes/C_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Capacitor_SMD:C_0805_2012Metric (layer F.Cu) (tedit 5F68FEEE) (tstamp 61B13A52)
+ (at 132.1308 83.185 90)
+ (descr "Capacitor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf, https://docs.google.com/spreadsheets/d/1BsfQQcO9C6DZCsRaXUlFlo91Tg2WpOkGARC1WS5S8t0/edit?usp=sharing), generated with kicad-footprint-generator")
+ (tags capacitor)
+ (path /61C469DD)
+ (attr smd)
+ (fp_text reference C4 (at 0 2.1082) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value 0.1uF (at 0 1.68 270) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start 1.7 0.98) (end -1.7 0.98) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 1.7 -0.98) (end 1.7 0.98) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.7 -0.98) (end 1.7 -0.98) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.7 0.98) (end -1.7 -0.98) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -0.261252 0.735) (end 0.261252 0.735) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.261252 -0.735) (end 0.261252 -0.735) (layer F.SilkS) (width 0.12))
+ (fp_line (start 1 0.625) (end -1 0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start 1 -0.625) (end 1 0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start -1 -0.625) (end 1 -0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end -1 -0.625) (layer F.Fab) (width 0.1))
+ (fp_text user %R (at 1.905 -0.0508) (layer F.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)))
+ )
+ (pad 1 smd roundrect (at -0.95 0 90) (size 1 1.45) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 2 +3V3))
+ (pad 2 smd roundrect (at 0.95 0 90) (size 1 1.45) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 1 GND))
+ (model ${KISYS3DMOD}/Capacitor_SMD.3dshapes/C_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Capacitor_SMD:C_0805_2012Metric (layer F.Cu) (tedit 5F68FEEE) (tstamp 61B13A63)
+ (at 123.063 116.078)
+ (descr "Capacitor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf, https://docs.google.com/spreadsheets/d/1BsfQQcO9C6DZCsRaXUlFlo91Tg2WpOkGARC1WS5S8t0/edit?usp=sharing), generated with kicad-footprint-generator")
+ (tags capacitor)
+ (path /61E985F3)
+ (attr smd)
+ (fp_text reference C5 (at -2.921 0) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value 0.1uF (at -3.81 -0.1778) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start 1.7 0.98) (end -1.7 0.98) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 1.7 -0.98) (end 1.7 0.98) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.7 -0.98) (end 1.7 -0.98) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.7 0.98) (end -1.7 -0.98) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -0.261252 0.735) (end 0.261252 0.735) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.261252 -0.735) (end 0.261252 -0.735) (layer F.SilkS) (width 0.12))
+ (fp_line (start 1 0.625) (end -1 0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start 1 -0.625) (end 1 0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start -1 -0.625) (end 1 -0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end -1 -0.625) (layer F.Fab) (width 0.1))
+ (fp_text user %R (at 0 -1.143) (layer F.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)))
+ )
+ (pad 1 smd roundrect (at -0.95 0) (size 1 1.45) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 2 +3V3))
+ (pad 2 smd roundrect (at 0.95 0) (size 1 1.45) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 1 GND))
+ (model ${KISYS3DMOD}/Capacitor_SMD.3dshapes/C_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Capacitor_SMD:C_0805_2012Metric (layer B.Cu) (tedit 5F68FEEE) (tstamp 61B13A74)
+ (at 132.08 111.76 270)
+ (descr "Capacitor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf, https://docs.google.com/spreadsheets/d/1BsfQQcO9C6DZCsRaXUlFlo91Tg2WpOkGARC1WS5S8t0/edit?usp=sharing), generated with kicad-footprint-generator")
+ (tags capacitor)
+ (path /61EAEEA0)
+ (attr smd)
+ (fp_text reference C6 (at 0 1.68 90) (layer B.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_text value 0.1uF (at 0 -1.68 90) (layer B.Fab)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_line (start -1 -0.625) (end -1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end 1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end 1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 -0.625) (end -1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -0.261252 0.735) (end 0.261252 0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -0.261252 -0.735) (end 0.261252 -0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -1.7 -0.98) (end -1.7 0.98) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.7 0.98) (end 1.7 0.98) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.7 0.98) (end 1.7 -0.98) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.7 -0.98) (end -1.7 -0.98) (layer B.CrtYd) (width 0.05))
+ (fp_text user %R (at -1.778 0 180) (layer B.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)) (justify mirror))
+ )
+ (pad 2 smd roundrect (at 0.95 0 270) (size 1 1.45) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.25)
+ (net 4 +5VD))
+ (pad 1 smd roundrect (at -0.95 0 270) (size 1 1.45) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.25)
+ (net 5 GNDD))
+ (model ${KISYS3DMOD}/Capacitor_SMD.3dshapes/C_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Capacitor_SMD:C_0805_2012Metric (layer B.Cu) (tedit 5F68FEEE) (tstamp 61B13A85)
+ (at 149.86 91.44)
+ (descr "Capacitor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf, https://docs.google.com/spreadsheets/d/1BsfQQcO9C6DZCsRaXUlFlo91Tg2WpOkGARC1WS5S8t0/edit?usp=sharing), generated with kicad-footprint-generator")
+ (tags capacitor)
+ (path /625C5FED)
+ (attr smd)
+ (fp_text reference C7 (at 0.127 -1.524) (layer B.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_text value 1.0nF (at -3.556 0) (layer B.Fab)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_line (start -1 -0.625) (end -1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end 1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end 1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 -0.625) (end -1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -0.261252 0.735) (end 0.261252 0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -0.261252 -0.735) (end 0.261252 -0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -1.7 -0.98) (end -1.7 0.98) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.7 0.98) (end 1.7 0.98) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.7 0.98) (end 1.7 -0.98) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.7 -0.98) (end -1.7 -0.98) (layer B.CrtYd) (width 0.05))
+ (fp_text user %R (at 0 -1.016) (layer B.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)) (justify mirror))
+ )
+ (pad 2 smd roundrect (at 0.95 0) (size 1 1.45) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.25)
+ (net 6 "Net-(C7-Pad2)"))
+ (pad 1 smd roundrect (at -0.95 0) (size 1 1.45) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.25)
+ (net 5 GNDD))
+ (model ${KISYS3DMOD}/Capacitor_SMD.3dshapes/C_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Capacitor_SMD:C_0805_2012Metric (layer B.Cu) (tedit 5F68FEEE) (tstamp 61B13A96)
+ (at 149.86 86.36)
+ (descr "Capacitor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf, https://docs.google.com/spreadsheets/d/1BsfQQcO9C6DZCsRaXUlFlo91Tg2WpOkGARC1WS5S8t0/edit?usp=sharing), generated with kicad-footprint-generator")
+ (tags capacitor)
+ (path /625EF744)
+ (attr smd)
+ (fp_text reference C8 (at 0 -1.651) (layer B.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_text value 1.0nF (at -3.556 0) (layer B.Fab)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_line (start -1 -0.625) (end -1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end 1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end 1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 -0.625) (end -1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -0.261252 0.735) (end 0.261252 0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -0.261252 -0.735) (end 0.261252 -0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -1.7 -0.98) (end -1.7 0.98) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.7 0.98) (end 1.7 0.98) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.7 0.98) (end 1.7 -0.98) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.7 -0.98) (end -1.7 -0.98) (layer B.CrtYd) (width 0.05))
+ (fp_text user %R (at 0 -1.143) (layer B.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)) (justify mirror))
+ )
+ (pad 2 smd roundrect (at 0.95 0) (size 1 1.45) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.25)
+ (net 7 "Net-(C8-Pad2)"))
+ (pad 1 smd roundrect (at -0.95 0) (size 1 1.45) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.25)
+ (net 5 GNDD))
+ (model ${KISYS3DMOD}/Capacitor_SMD.3dshapes/C_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Capacitor_SMD:C_0805_2012Metric (layer B.Cu) (tedit 5F68FEEE) (tstamp 61B13AA7)
+ (at 149.86 81.28)
+ (descr "Capacitor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf, https://docs.google.com/spreadsheets/d/1BsfQQcO9C6DZCsRaXUlFlo91Tg2WpOkGARC1WS5S8t0/edit?usp=sharing), generated with kicad-footprint-generator")
+ (tags capacitor)
+ (path /625EFED5)
+ (attr smd)
+ (fp_text reference C9 (at 0 -1.651) (layer B.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_text value 1.0nF (at -3.556 -0.0254) (layer B.Fab)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_line (start 1.7 -0.98) (end -1.7 -0.98) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.7 0.98) (end 1.7 -0.98) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.7 0.98) (end 1.7 0.98) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.7 -0.98) (end -1.7 0.98) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -0.261252 -0.735) (end 0.261252 -0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -0.261252 0.735) (end 0.261252 0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start 1 -0.625) (end -1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end 1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end 1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 -0.625) (end -1 0.625) (layer B.Fab) (width 0.1))
+ (fp_text user %R (at 0 -1.143) (layer B.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)) (justify mirror))
+ )
+ (pad 1 smd roundrect (at -0.95 0) (size 1 1.45) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.25)
+ (net 5 GNDD))
+ (pad 2 smd roundrect (at 0.95 0) (size 1 1.45) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.25)
+ (net 8 "Net-(C9-Pad2)"))
+ (model ${KISYS3DMOD}/Capacitor_SMD.3dshapes/C_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Capacitor_SMD:C_0805_2012Metric (layer B.Cu) (tedit 5F68FEEE) (tstamp 61B13AB8)
+ (at 149.86 76.2)
+ (descr "Capacitor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf, https://docs.google.com/spreadsheets/d/1BsfQQcO9C6DZCsRaXUlFlo91Tg2WpOkGARC1WS5S8t0/edit?usp=sharing), generated with kicad-footprint-generator")
+ (tags capacitor)
+ (path /625F04F6)
+ (attr smd)
+ (fp_text reference C10 (at -0.127 -1.651) (layer B.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_text value 1.0nF (at -3.6068 0.0508) (layer B.Fab)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_line (start -1 -0.625) (end -1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end 1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end 1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 -0.625) (end -1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -0.261252 0.735) (end 0.261252 0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -0.261252 -0.735) (end 0.261252 -0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -1.7 -0.98) (end -1.7 0.98) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.7 0.98) (end 1.7 0.98) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.7 0.98) (end 1.7 -0.98) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.7 -0.98) (end -1.7 -0.98) (layer B.CrtYd) (width 0.05))
+ (fp_text user %R (at 0 -1.143) (layer B.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)) (justify mirror))
+ )
+ (pad 2 smd roundrect (at 0.95 0) (size 1 1.45) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.25)
+ (net 9 "Net-(C10-Pad2)"))
+ (pad 1 smd roundrect (at -0.95 0) (size 1 1.45) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.25)
+ (net 5 GNDD))
+ (model ${KISYS3DMOD}/Capacitor_SMD.3dshapes/C_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Capacitor_SMD:C_0805_2012Metric (layer B.Cu) (tedit 5F68FEEE) (tstamp 61B13AC9)
+ (at 144.78 121.539 90)
+ (descr "Capacitor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf, https://docs.google.com/spreadsheets/d/1BsfQQcO9C6DZCsRaXUlFlo91Tg2WpOkGARC1WS5S8t0/edit?usp=sharing), generated with kicad-footprint-generator")
+ (tags capacitor)
+ (path /6231AC4D)
+ (attr smd)
+ (fp_text reference C11 (at 0.127 -1.778 90) (layer B.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_text value 0.1uF (at 0.254 1.651 90) (layer B.Fab)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_line (start -1 -0.625) (end -1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end 1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end 1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 -0.625) (end -1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -0.261252 0.735) (end 0.261252 0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -0.261252 -0.735) (end 0.261252 -0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -1.7 -0.98) (end -1.7 0.98) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.7 0.98) (end 1.7 0.98) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.7 0.98) (end 1.7 -0.98) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.7 -0.98) (end -1.7 -0.98) (layer B.CrtYd) (width 0.05))
+ (fp_text user %R (at 1.778 0 180) (layer B.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)) (justify mirror))
+ )
+ (pad 2 smd roundrect (at 0.95 0 90) (size 1 1.45) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.25)
+ (net 4 +5VD))
+ (pad 1 smd roundrect (at -0.95 0 90) (size 1 1.45) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.25)
+ (net 5 GNDD))
+ (model ${KISYS3DMOD}/Capacitor_SMD.3dshapes/C_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Capacitor_SMD:C_0805_2012Metric (layer F.Cu) (tedit 5F68FEEE) (tstamp 61B13ADA)
+ (at 123.19 127)
+ (descr "Capacitor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf, https://docs.google.com/spreadsheets/d/1BsfQQcO9C6DZCsRaXUlFlo91Tg2WpOkGARC1WS5S8t0/edit?usp=sharing), generated with kicad-footprint-generator")
+ (tags capacitor)
+ (path /61EB2283)
+ (attr smd)
+ (fp_text reference C12 (at -3.302 0) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value 0.1uF (at -3.7084 -0.0508) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start 1.7 0.98) (end -1.7 0.98) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 1.7 -0.98) (end 1.7 0.98) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.7 -0.98) (end 1.7 -0.98) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.7 0.98) (end -1.7 -0.98) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -0.261252 0.735) (end 0.261252 0.735) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.261252 -0.735) (end 0.261252 -0.735) (layer F.SilkS) (width 0.12))
+ (fp_line (start 1 0.625) (end -1 0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start 1 -0.625) (end 1 0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start -1 -0.625) (end 1 -0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end -1 -0.625) (layer F.Fab) (width 0.1))
+ (fp_text user %R (at 0.0254 -1.143) (layer F.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)))
+ )
+ (pad 1 smd roundrect (at -0.95 0) (size 1 1.45) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 2 +3V3))
+ (pad 2 smd roundrect (at 0.95 0) (size 1 1.45) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 1 GND))
+ (model ${KISYS3DMOD}/Capacitor_SMD.3dshapes/C_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Capacitor_SMD:C_0805_2012Metric (layer B.Cu) (tedit 5F68FEEE) (tstamp 61B13AEB)
+ (at 132.08 124.78 90)
+ (descr "Capacitor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf, https://docs.google.com/spreadsheets/d/1BsfQQcO9C6DZCsRaXUlFlo91Tg2WpOkGARC1WS5S8t0/edit?usp=sharing), generated with kicad-footprint-generator")
+ (tags capacitor)
+ (path /61EB001B)
+ (attr smd)
+ (fp_text reference C13 (at 0.066 -1.651 90) (layer B.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_text value 0.1uF (at -0.188 1.524 90) (layer B.Fab)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_line (start 1.7 -0.98) (end -1.7 -0.98) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.7 0.98) (end 1.7 -0.98) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.7 0.98) (end 1.7 0.98) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.7 -0.98) (end -1.7 0.98) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -0.261252 -0.735) (end 0.261252 -0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -0.261252 0.735) (end 0.261252 0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start 1 -0.625) (end -1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end 1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end 1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 -0.625) (end -1 0.625) (layer B.Fab) (width 0.1))
+ (fp_text user %R (at 1.971 0 180) (layer B.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)) (justify mirror))
+ )
+ (pad 1 smd roundrect (at -0.95 0 90) (size 1 1.45) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.25)
+ (net 5 GNDD))
+ (pad 2 smd roundrect (at 0.95 0 90) (size 1 1.45) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.25)
+ (net 4 +5VD))
+ (model ${KISYS3DMOD}/Capacitor_SMD.3dshapes/C_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Capacitor_SMD:C_0805_2012Metric (layer F.Cu) (tedit 5F68FEEE) (tstamp 61B13AFC)
+ (at 123.19 120.015 180)
+ (descr "Capacitor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf, https://docs.google.com/spreadsheets/d/1BsfQQcO9C6DZCsRaXUlFlo91Tg2WpOkGARC1WS5S8t0/edit?usp=sharing), generated with kicad-footprint-generator")
+ (tags capacitor)
+ (path /61EB1AD4)
+ (attr smd)
+ (fp_text reference C14 (at 3.429 0) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value 0.1uF (at 3.81 0.0508) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start -1 0.625) (end -1 -0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start -1 -0.625) (end 1 -0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start 1 -0.625) (end 1 0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end -1 0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.261252 -0.735) (end 0.261252 -0.735) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.261252 0.735) (end 0.261252 0.735) (layer F.SilkS) (width 0.12))
+ (fp_line (start -1.7 0.98) (end -1.7 -0.98) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.7 -0.98) (end 1.7 -0.98) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 1.7 -0.98) (end 1.7 0.98) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 1.7 0.98) (end -1.7 0.98) (layer F.CrtYd) (width 0.05))
+ (fp_text user %R (at 0.0254 1.1176) (layer F.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)))
+ )
+ (pad 2 smd roundrect (at 0.95 0 180) (size 1 1.45) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 1 GND))
+ (pad 1 smd roundrect (at -0.95 0 180) (size 1 1.45) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 2 +3V3))
+ (model ${KISYS3DMOD}/Capacitor_SMD.3dshapes/C_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Capacitor_SMD:C_0805_2012Metric (layer B.Cu) (tedit 5F68FEEE) (tstamp 61B13B0D)
+ (at 132.08 118.11 270)
+ (descr "Capacitor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf, https://docs.google.com/spreadsheets/d/1BsfQQcO9C6DZCsRaXUlFlo91Tg2WpOkGARC1WS5S8t0/edit?usp=sharing), generated with kicad-footprint-generator")
+ (tags capacitor)
+ (path /61EB0F00)
+ (attr smd)
+ (fp_text reference C15 (at 0 1.68 90) (layer B.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_text value 0.1uF (at 0 -1.68 90) (layer B.Fab)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_line (start 1.7 -0.98) (end -1.7 -0.98) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.7 0.98) (end 1.7 -0.98) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.7 0.98) (end 1.7 0.98) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.7 -0.98) (end -1.7 0.98) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -0.261252 -0.735) (end 0.261252 -0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -0.261252 0.735) (end 0.261252 0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start 1 -0.625) (end -1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end 1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end 1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 -0.625) (end -1 0.625) (layer B.Fab) (width 0.1))
+ (fp_text user %R (at -1.778 0 180) (layer B.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)) (justify mirror))
+ )
+ (pad 1 smd roundrect (at -0.95 0 270) (size 1 1.45) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.25)
+ (net 5 GNDD))
+ (pad 2 smd roundrect (at 0.95 0 270) (size 1 1.45) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.25)
+ (net 4 +5VD))
+ (model ${KISYS3DMOD}/Capacitor_SMD.3dshapes/C_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Capacitor_SMD:C_0805_2012Metric (layer B.Cu) (tedit 5F68FEEE) (tstamp 61B13B1E)
+ (at 144.78 107.63 270)
+ (descr "Capacitor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf, https://docs.google.com/spreadsheets/d/1BsfQQcO9C6DZCsRaXUlFlo91Tg2WpOkGARC1WS5S8t0/edit?usp=sharing), generated with kicad-footprint-generator")
+ (tags capacitor)
+ (path /62257C7B)
+ (attr smd)
+ (fp_text reference C16 (at 0 1.68 90) (layer B.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_text value 0.1uF (at 0 -1.68 90) (layer B.Fab)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_line (start 1.7 -0.98) (end -1.7 -0.98) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.7 0.98) (end 1.7 -0.98) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.7 0.98) (end 1.7 0.98) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.7 -0.98) (end -1.7 0.98) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -0.261252 -0.735) (end 0.261252 -0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -0.261252 0.735) (end 0.261252 0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start 1 -0.625) (end -1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end 1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end 1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 -0.625) (end -1 0.625) (layer B.Fab) (width 0.1))
+ (fp_text user %R (at -1.966 0 180) (layer B.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)) (justify mirror))
+ )
+ (pad 1 smd roundrect (at -0.95 0 270) (size 1 1.45) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.25)
+ (net 5 GNDD))
+ (pad 2 smd roundrect (at 0.95 0 270) (size 1 1.45) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.25)
+ (net 4 +5VD))
+ (model ${KISYS3DMOD}/Capacitor_SMD.3dshapes/C_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Capacitor_SMD:C_1206_3216Metric (layer B.Cu) (tedit 5F68FEEE) (tstamp 61B13B40)
+ (at 99.441 95.631)
+ (descr "Capacitor SMD 1206 (3216 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags capacitor)
+ (path /62D140AF)
+ (attr smd)
+ (fp_text reference C18 (at 0 -1.905) (layer B.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_text value 22uF (at 0 -1.85) (layer B.Fab)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_line (start 2.3 -1.15) (end -2.3 -1.15) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 2.3 1.15) (end 2.3 -1.15) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -2.3 1.15) (end 2.3 1.15) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -2.3 -1.15) (end -2.3 1.15) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -0.711252 -0.91) (end 0.711252 -0.91) (layer B.SilkS) (width 0.12))
+ (fp_line (start -0.711252 0.91) (end 0.711252 0.91) (layer B.SilkS) (width 0.12))
+ (fp_line (start 1.6 -0.8) (end -1.6 -0.8) (layer B.Fab) (width 0.1))
+ (fp_line (start 1.6 0.8) (end 1.6 -0.8) (layer B.Fab) (width 0.1))
+ (fp_line (start -1.6 0.8) (end 1.6 0.8) (layer B.Fab) (width 0.1))
+ (fp_line (start -1.6 -0.8) (end -1.6 0.8) (layer B.Fab) (width 0.1))
+ (fp_text user %R (at 0 1.651) (layer B.Fab)
+ (effects (font (size 0.8 0.8) (thickness 0.12)) (justify mirror))
+ )
+ (pad 1 smd roundrect (at -1.475 0) (size 1.15 1.8) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2173904347826087)
+ (net 1 GND))
+ (pad 2 smd roundrect (at 1.475 0) (size 1.15 1.8) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2173904347826087)
+ (net 3 +5V))
+ (model ${KISYS3DMOD}/Capacitor_SMD.3dshapes/C_1206_3216Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Capacitor_SMD:C_1206_3216Metric (layer B.Cu) (tedit 5F68FEEE) (tstamp 61B13B51)
+ (at 100.33 86.36)
+ (descr "Capacitor SMD 1206 (3216 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags capacitor)
+ (path /62D3CFA3)
+ (attr smd)
+ (fp_text reference C19 (at 0.127 2.032) (layer B.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_text value 22uF (at 0 -1.85) (layer B.Fab)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_line (start -1.6 -0.8) (end -1.6 0.8) (layer B.Fab) (width 0.1))
+ (fp_line (start -1.6 0.8) (end 1.6 0.8) (layer B.Fab) (width 0.1))
+ (fp_line (start 1.6 0.8) (end 1.6 -0.8) (layer B.Fab) (width 0.1))
+ (fp_line (start 1.6 -0.8) (end -1.6 -0.8) (layer B.Fab) (width 0.1))
+ (fp_line (start -0.711252 0.91) (end 0.711252 0.91) (layer B.SilkS) (width 0.12))
+ (fp_line (start -0.711252 -0.91) (end 0.711252 -0.91) (layer B.SilkS) (width 0.12))
+ (fp_line (start -2.3 -1.15) (end -2.3 1.15) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -2.3 1.15) (end 2.3 1.15) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 2.3 1.15) (end 2.3 -1.15) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 2.3 -1.15) (end -2.3 -1.15) (layer B.CrtYd) (width 0.05))
+ (fp_text user %R (at 0.127 1.524) (layer B.Fab)
+ (effects (font (size 0.8 0.8) (thickness 0.12)) (justify mirror))
+ )
+ (pad 2 smd roundrect (at 1.475 0) (size 1.15 1.8) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2173904347826087)
+ (net 2 +3V3))
+ (pad 1 smd roundrect (at -1.475 0) (size 1.15 1.8) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2173904347826087)
+ (net 1 GND))
+ (model ${KISYS3DMOD}/Capacitor_SMD.3dshapes/C_1206_3216Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module LED_SMD:LED_1206_3216Metric (layer F.Cu) (tedit 5F68FEF1) (tstamp 61B13B64)
+ (at 99.06 115.57 180)
+ (descr "LED SMD 1206 (3216 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: http://www.tortai-tech.com/upload/download/2011102023233369053.pdf), generated with kicad-footprint-generator")
+ (tags LED)
+ (path /61B53188)
+ (attr smd)
+ (fp_text reference D1 (at 3.175 1.143) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value DR (at -2.921 0) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify left))
+ )
+ (fp_line (start 2.28 1.12) (end -2.28 1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 2.28 -1.12) (end 2.28 1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -2.28 -1.12) (end 2.28 -1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -2.28 1.12) (end -2.28 -1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -2.285 1.135) (end 1.6 1.135) (layer F.SilkS) (width 0.12))
+ (fp_line (start -2.285 -1.135) (end -2.285 1.135) (layer F.SilkS) (width 0.12))
+ (fp_line (start 1.6 -1.135) (end -2.285 -1.135) (layer F.SilkS) (width 0.12))
+ (fp_line (start 1.6 0.8) (end 1.6 -0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.6 0.8) (end 1.6 0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.6 -0.4) (end -1.6 0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.2 -0.8) (end -1.6 -0.4) (layer F.Fab) (width 0.1))
+ (fp_line (start 1.6 -0.8) (end -1.2 -0.8) (layer F.Fab) (width 0.1))
+ (fp_text user %R (at -2.921 0) (layer F.Fab)
+ (effects (font (size 0.8 0.8) (thickness 0.12)))
+ )
+ (pad 1 smd roundrect (at -1.4 0 180) (size 1.25 1.75) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2)
+ (net 1 GND))
+ (pad 2 smd roundrect (at 1.4 0 180) (size 1.25 1.75) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2)
+ (net 10 "Net-(D1-Pad2)"))
+ (model ${KISYS3DMOD}/LED_SMD.3dshapes/LED_1206_3216Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module LED_SMD:LED_1206_3216Metric (layer F.Cu) (tedit 5F68FEF1) (tstamp 61B13B77)
+ (at 99.06 113.03 180)
+ (descr "LED SMD 1206 (3216 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: http://www.tortai-tech.com/upload/download/2011102023233369053.pdf), generated with kicad-footprint-generator")
+ (tags LED)
+ (path /61B54E9C)
+ (attr smd)
+ (fp_text reference D2 (at 3.302 1.143) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value MOSI (at -2.921 -0.127) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify left))
+ )
+ (fp_line (start 2.28 1.12) (end -2.28 1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 2.28 -1.12) (end 2.28 1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -2.28 -1.12) (end 2.28 -1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -2.28 1.12) (end -2.28 -1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -2.285 1.135) (end 1.6 1.135) (layer F.SilkS) (width 0.12))
+ (fp_line (start -2.285 -1.135) (end -2.285 1.135) (layer F.SilkS) (width 0.12))
+ (fp_line (start 1.6 -1.135) (end -2.285 -1.135) (layer F.SilkS) (width 0.12))
+ (fp_line (start 1.6 0.8) (end 1.6 -0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.6 0.8) (end 1.6 0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.6 -0.4) (end -1.6 0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.2 -0.8) (end -1.6 -0.4) (layer F.Fab) (width 0.1))
+ (fp_line (start 1.6 -0.8) (end -1.2 -0.8) (layer F.Fab) (width 0.1))
+ (fp_text user %R (at -2.921 0) (layer F.Fab)
+ (effects (font (size 0.8 0.8) (thickness 0.12)))
+ )
+ (pad 1 smd roundrect (at -1.4 0 180) (size 1.25 1.75) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2)
+ (net 1 GND))
+ (pad 2 smd roundrect (at 1.4 0 180) (size 1.25 1.75) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2)
+ (net 11 "Net-(D2-Pad2)"))
+ (model ${KISYS3DMOD}/LED_SMD.3dshapes/LED_1206_3216Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module LED_SMD:LED_1206_3216Metric (layer F.Cu) (tedit 5F68FEF1) (tstamp 61B13B8A)
+ (at 99.06 110.49 180)
+ (descr "LED SMD 1206 (3216 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: http://www.tortai-tech.com/upload/download/2011102023233369053.pdf), generated with kicad-footprint-generator")
+ (tags LED)
+ (path /61B543F8)
+ (attr smd)
+ (fp_text reference D3 (at 3.302 1.143) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value MISO (at -2.921 0) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify left))
+ )
+ (fp_line (start 1.6 -0.8) (end -1.2 -0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.2 -0.8) (end -1.6 -0.4) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.6 -0.4) (end -1.6 0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.6 0.8) (end 1.6 0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start 1.6 0.8) (end 1.6 -0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start 1.6 -1.135) (end -2.285 -1.135) (layer F.SilkS) (width 0.12))
+ (fp_line (start -2.285 -1.135) (end -2.285 1.135) (layer F.SilkS) (width 0.12))
+ (fp_line (start -2.285 1.135) (end 1.6 1.135) (layer F.SilkS) (width 0.12))
+ (fp_line (start -2.28 1.12) (end -2.28 -1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -2.28 -1.12) (end 2.28 -1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 2.28 -1.12) (end 2.28 1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 2.28 1.12) (end -2.28 1.12) (layer F.CrtYd) (width 0.05))
+ (fp_text user %R (at -2.921 0) (layer F.Fab)
+ (effects (font (size 0.8 0.8) (thickness 0.12)))
+ )
+ (pad 2 smd roundrect (at 1.4 0 180) (size 1.25 1.75) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2)
+ (net 12 "Net-(D3-Pad2)"))
+ (pad 1 smd roundrect (at -1.4 0 180) (size 1.25 1.75) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2)
+ (net 1 GND))
+ (model ${KISYS3DMOD}/LED_SMD.3dshapes/LED_1206_3216Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module LED_SMD:LED_1206_3216Metric (layer F.Cu) (tedit 5F68FEF1) (tstamp 61B13B9D)
+ (at 99.06 118.11 180)
+ (descr "LED SMD 1206 (3216 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: http://www.tortai-tech.com/upload/download/2011102023233369053.pdf), generated with kicad-footprint-generator")
+ (tags LED)
+ (path /61B51DEE)
+ (attr smd)
+ (fp_text reference D4 (at 3.429 1.143) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value SCK (at -2.921 0) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify left))
+ )
+ (fp_line (start 2.28 1.12) (end -2.28 1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 2.28 -1.12) (end 2.28 1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -2.28 -1.12) (end 2.28 -1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -2.28 1.12) (end -2.28 -1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -2.285 1.135) (end 1.6 1.135) (layer F.SilkS) (width 0.12))
+ (fp_line (start -2.285 -1.135) (end -2.285 1.135) (layer F.SilkS) (width 0.12))
+ (fp_line (start 1.6 -1.135) (end -2.285 -1.135) (layer F.SilkS) (width 0.12))
+ (fp_line (start 1.6 0.8) (end 1.6 -0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.6 0.8) (end 1.6 0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.6 -0.4) (end -1.6 0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.2 -0.8) (end -1.6 -0.4) (layer F.Fab) (width 0.1))
+ (fp_line (start 1.6 -0.8) (end -1.2 -0.8) (layer F.Fab) (width 0.1))
+ (fp_text user %R (at -2.921 0) (layer F.Fab)
+ (effects (font (size 0.8 0.8) (thickness 0.12)))
+ )
+ (pad 1 smd roundrect (at -1.4 0 180) (size 1.25 1.75) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2)
+ (net 1 GND))
+ (pad 2 smd roundrect (at 1.4 0 180) (size 1.25 1.75) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2)
+ (net 13 "Net-(D4-Pad2)"))
+ (model ${KISYS3DMOD}/LED_SMD.3dshapes/LED_1206_3216Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module LED_SMD:LED_1206_3216Metric (layer F.Cu) (tedit 5F68FEF1) (tstamp 61B13BB0)
+ (at 99.06 120.65 180)
+ (descr "LED SMD 1206 (3216 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: http://www.tortai-tech.com/upload/download/2011102023233369053.pdf), generated with kicad-footprint-generator")
+ (tags LED)
+ (path /61B3F475)
+ (attr smd)
+ (fp_text reference D5 (at 3.429 1.143) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value CS (at -2.921 0) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify left))
+ )
+ (fp_line (start 1.6 -0.8) (end -1.2 -0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.2 -0.8) (end -1.6 -0.4) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.6 -0.4) (end -1.6 0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.6 0.8) (end 1.6 0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start 1.6 0.8) (end 1.6 -0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start 1.6 -1.135) (end -2.285 -1.135) (layer F.SilkS) (width 0.12))
+ (fp_line (start -2.285 -1.135) (end -2.285 1.135) (layer F.SilkS) (width 0.12))
+ (fp_line (start -2.285 1.135) (end 1.6 1.135) (layer F.SilkS) (width 0.12))
+ (fp_line (start -2.28 1.12) (end -2.28 -1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -2.28 -1.12) (end 2.28 -1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 2.28 -1.12) (end 2.28 1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 2.28 1.12) (end -2.28 1.12) (layer F.CrtYd) (width 0.05))
+ (fp_text user %R (at -2.921 0) (layer F.Fab)
+ (effects (font (size 0.8 0.8) (thickness 0.12)))
+ )
+ (pad 2 smd roundrect (at 1.4 0 180) (size 1.25 1.75) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2)
+ (net 14 "Net-(D5-Pad2)"))
+ (pad 1 smd roundrect (at -1.4 0 180) (size 1.25 1.75) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2)
+ (net 1 GND))
+ (model ${KISYS3DMOD}/LED_SMD.3dshapes/LED_1206_3216Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Diode_SMD:D_SMB (layer F.Cu) (tedit 58645DF3) (tstamp 61B13BC8)
+ (at 129.54 130.81 180)
+ (descr "Diode SMB (DO-214AA)")
+ (tags "Diode SMB (DO-214AA)")
+ (path /61AC0BCE)
+ (attr smd)
+ (fp_text reference D6 (at 4.826 1.27) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value B240 (at 5.7658 -0.0762) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start -3.55 -2.15) (end 2.15 -2.15) (layer F.SilkS) (width 0.12))
+ (fp_line (start -3.55 2.15) (end 2.15 2.15) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.64944 0.00102) (end 0.50118 -0.79908) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.64944 0.00102) (end 0.50118 0.75032) (layer F.Fab) (width 0.1))
+ (fp_line (start 0.50118 0.75032) (end 0.50118 -0.79908) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.64944 -0.79908) (end -0.64944 0.80112) (layer F.Fab) (width 0.1))
+ (fp_line (start 0.50118 0.00102) (end 1.4994 0.00102) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.64944 0.00102) (end -1.55114 0.00102) (layer F.Fab) (width 0.1))
+ (fp_line (start -3.65 2.25) (end -3.65 -2.25) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 3.65 2.25) (end -3.65 2.25) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 3.65 -2.25) (end 3.65 2.25) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -3.65 -2.25) (end 3.65 -2.25) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 2.3 -2) (end -2.3 -2) (layer F.Fab) (width 0.1))
+ (fp_line (start 2.3 -2) (end 2.3 2) (layer F.Fab) (width 0.1))
+ (fp_line (start -2.3 2) (end -2.3 -2) (layer F.Fab) (width 0.1))
+ (fp_line (start 2.3 2) (end -2.3 2) (layer F.Fab) (width 0.1))
+ (fp_line (start -3.55 -2.15) (end -3.55 2.15) (layer F.SilkS) (width 0.12))
+ (fp_text user %R (at 0 -3) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (pad 1 smd rect (at -2.15 0 180) (size 2.5 2.3) (layers F.Cu F.Paste F.Mask)
+ (net 15 "Net-(D6-Pad1)"))
+ (pad 2 smd rect (at 2.15 0 180) (size 2.5 2.3) (layers F.Cu F.Paste F.Mask)
+ (net 3 +5V))
+ (model ${KISYS3DMOD}/Diode_SMD.3dshapes/D_SMB.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module LED_SMD:LED_1206_3216Metric (layer F.Cu) (tedit 5F68FEF1) (tstamp 61B13C9B)
+ (at 147.32 128.905 270)
+ (descr "LED SMD 1206 (3216 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: http://www.tortai-tech.com/upload/download/2011102023233369053.pdf), generated with kicad-footprint-generator")
+ (tags LED)
+ (path /629C9A08)
+ (attr smd)
+ (fp_text reference D15 (at -3.937 -0.508 90) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value HDG (at 5.207 0 90) (layer F.SilkS)
+ (effects (font (size 1.016 1.016) (thickness 0.15)) (justify left))
+ )
+ (fp_line (start 2.28 1.12) (end -2.28 1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 2.28 -1.12) (end 2.28 1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -2.28 -1.12) (end 2.28 -1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -2.28 1.12) (end -2.28 -1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -2.285 1.135) (end 1.6 1.135) (layer F.SilkS) (width 0.12))
+ (fp_line (start -2.285 -1.135) (end -2.285 1.135) (layer F.SilkS) (width 0.12))
+ (fp_line (start 1.6 -1.135) (end -2.285 -1.135) (layer F.SilkS) (width 0.12))
+ (fp_line (start 1.6 0.8) (end 1.6 -0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.6 0.8) (end 1.6 0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.6 -0.4) (end -1.6 0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.2 -0.8) (end -1.6 -0.4) (layer F.Fab) (width 0.1))
+ (fp_line (start 1.6 -0.8) (end -1.2 -0.8) (layer F.Fab) (width 0.1))
+ (fp_text user %R (at 3.3274 0.0508 90) (layer F.Fab)
+ (effects (font (size 0.8 0.8) (thickness 0.12)))
+ )
+ (pad 1 smd roundrect (at -1.4 0 270) (size 1.25 1.75) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2)
+ (net 5 GNDD))
+ (pad 2 smd roundrect (at 1.4 0 270) (size 1.25 1.75) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2)
+ (net 16 "Net-(D15-Pad2)"))
+ (model ${KISYS3DMOD}/LED_SMD.3dshapes/LED_1206_3216Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module LED_SMD:LED_1206_3216Metric (layer F.Cu) (tedit 5F68FEF1) (tstamp 61B13CAE)
+ (at 142.24 128.905 270)
+ (descr "LED SMD 1206 (3216 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: http://www.tortai-tech.com/upload/download/2011102023233369053.pdf), generated with kicad-footprint-generator")
+ (tags LED)
+ (path /629C9A14)
+ (attr smd)
+ (fp_text reference D16 (at -3.937 0.762 90) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value RTE (at 5.207 0 90) (layer F.SilkS)
+ (effects (font (size 1.016 1.016) (thickness 0.15)) (justify left))
+ )
+ (fp_line (start 2.28 1.12) (end -2.28 1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 2.28 -1.12) (end 2.28 1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -2.28 -1.12) (end 2.28 -1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -2.28 1.12) (end -2.28 -1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -2.285 1.135) (end 1.6 1.135) (layer F.SilkS) (width 0.12))
+ (fp_line (start -2.285 -1.135) (end -2.285 1.135) (layer F.SilkS) (width 0.12))
+ (fp_line (start 1.6 -1.135) (end -2.285 -1.135) (layer F.SilkS) (width 0.12))
+ (fp_line (start 1.6 0.8) (end 1.6 -0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.6 0.8) (end 1.6 0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.6 -0.4) (end -1.6 0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.2 -0.8) (end -1.6 -0.4) (layer F.Fab) (width 0.1))
+ (fp_line (start 1.6 -0.8) (end -1.2 -0.8) (layer F.Fab) (width 0.1))
+ (fp_text user %R (at 3.2766 0.0762 90) (layer F.Fab)
+ (effects (font (size 0.8 0.8) (thickness 0.12)))
+ )
+ (pad 1 smd roundrect (at -1.4 0 270) (size 1.25 1.75) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2)
+ (net 5 GNDD))
+ (pad 2 smd roundrect (at 1.4 0 270) (size 1.25 1.75) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2)
+ (net 17 "Net-(D16-Pad2)"))
+ (model ${KISYS3DMOD}/LED_SMD.3dshapes/LED_1206_3216Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module LED_SMD:LED_1206_3216Metric (layer F.Cu) (tedit 5F68FEF1) (tstamp 61B13CC1)
+ (at 137.16 128.905 270)
+ (descr "LED SMD 1206 (3216 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: http://www.tortai-tech.com/upload/download/2011102023233369053.pdf), generated with kicad-footprint-generator")
+ (tags LED)
+ (path /629C9A0E)
+ (attr smd)
+ (fp_text reference D17 (at -0.127 2.032 90) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value E2B (at 5.207 0 90) (layer F.SilkS)
+ (effects (font (size 1.016 1.016) (thickness 0.15)) (justify left))
+ )
+ (fp_line (start 1.6 -0.8) (end -1.2 -0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.2 -0.8) (end -1.6 -0.4) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.6 -0.4) (end -1.6 0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.6 0.8) (end 1.6 0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start 1.6 0.8) (end 1.6 -0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start 1.6 -1.135) (end -2.285 -1.135) (layer F.SilkS) (width 0.12))
+ (fp_line (start -2.285 -1.135) (end -2.285 1.135) (layer F.SilkS) (width 0.12))
+ (fp_line (start -2.285 1.135) (end 1.6 1.135) (layer F.SilkS) (width 0.12))
+ (fp_line (start -2.28 1.12) (end -2.28 -1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -2.28 -1.12) (end 2.28 -1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 2.28 -1.12) (end 2.28 1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 2.28 1.12) (end -2.28 1.12) (layer F.CrtYd) (width 0.05))
+ (fp_text user %R (at 3.3274 0 90) (layer F.Fab)
+ (effects (font (size 0.8 0.8) (thickness 0.12)))
+ )
+ (pad 2 smd roundrect (at 1.4 0 270) (size 1.25 1.75) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2)
+ (net 18 "Net-(D17-Pad2)"))
+ (pad 1 smd roundrect (at -1.4 0 270) (size 1.25 1.75) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2)
+ (net 5 GNDD))
+ (model ${KISYS3DMOD}/LED_SMD.3dshapes/LED_1206_3216Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module LED_SMD:LED_1206_3216Metric (layer F.Cu) (tedit 5F68FEF1) (tstamp 61B13CD4)
+ (at 139.7 128.905 270)
+ (descr "LED SMD 1206 (3216 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: http://www.tortai-tech.com/upload/download/2011102023233369053.pdf), generated with kicad-footprint-generator")
+ (tags LED)
+ (path /629C9A02)
+ (attr smd)
+ (fp_text reference D18 (at -3.937 0.254 90) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value E2A (at 5.207 -0.127 90) (layer F.SilkS)
+ (effects (font (size 1.016 1.016) (thickness 0.15)) (justify left))
+ )
+ (fp_line (start 1.6 -0.8) (end -1.2 -0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.2 -0.8) (end -1.6 -0.4) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.6 -0.4) (end -1.6 0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.6 0.8) (end 1.6 0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start 1.6 0.8) (end 1.6 -0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start 1.6 -1.135) (end -2.285 -1.135) (layer F.SilkS) (width 0.12))
+ (fp_line (start -2.285 -1.135) (end -2.285 1.135) (layer F.SilkS) (width 0.12))
+ (fp_line (start -2.285 1.135) (end 1.6 1.135) (layer F.SilkS) (width 0.12))
+ (fp_line (start -2.28 1.12) (end -2.28 -1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -2.28 -1.12) (end 2.28 -1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 2.28 -1.12) (end 2.28 1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 2.28 1.12) (end -2.28 1.12) (layer F.CrtYd) (width 0.05))
+ (fp_text user %R (at 3.302 0.0254 90) (layer F.Fab)
+ (effects (font (size 0.8 0.8) (thickness 0.12)))
+ )
+ (pad 2 smd roundrect (at 1.4 0 270) (size 1.25 1.75) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2)
+ (net 19 "Net-(D18-Pad2)"))
+ (pad 1 smd roundrect (at -1.4 0 270) (size 1.25 1.75) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2)
+ (net 5 GNDD))
+ (model ${KISYS3DMOD}/LED_SMD.3dshapes/LED_1206_3216Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module LED_SMD:LED_1206_3216Metric (layer F.Cu) (tedit 5F68FEF1) (tstamp 61B13CE7)
+ (at 144.78 128.905 270)
+ (descr "LED SMD 1206 (3216 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: http://www.tortai-tech.com/upload/download/2011102023233369053.pdf), generated with kicad-footprint-generator")
+ (tags LED)
+ (path /629C99FC)
+ (attr smd)
+ (fp_text reference D19 (at -3.937 0.889 90) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value E1B (at 5.152 0 90) (layer F.SilkS)
+ (effects (font (size 1.016 1.016) (thickness 0.15)) (justify left))
+ )
+ (fp_line (start 2.28 1.12) (end -2.28 1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 2.28 -1.12) (end 2.28 1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -2.28 -1.12) (end 2.28 -1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -2.28 1.12) (end -2.28 -1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -2.285 1.135) (end 1.6 1.135) (layer F.SilkS) (width 0.12))
+ (fp_line (start -2.285 -1.135) (end -2.285 1.135) (layer F.SilkS) (width 0.12))
+ (fp_line (start 1.6 -1.135) (end -2.285 -1.135) (layer F.SilkS) (width 0.12))
+ (fp_line (start 1.6 0.8) (end 1.6 -0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.6 0.8) (end 1.6 0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.6 -0.4) (end -1.6 0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.2 -0.8) (end -1.6 -0.4) (layer F.Fab) (width 0.1))
+ (fp_line (start 1.6 -0.8) (end -1.2 -0.8) (layer F.Fab) (width 0.1))
+ (fp_text user %R (at 3.2216 -0.0508 90) (layer F.Fab)
+ (effects (font (size 0.8 0.8) (thickness 0.12)))
+ )
+ (pad 1 smd roundrect (at -1.4 0 270) (size 1.25 1.75) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2)
+ (net 5 GNDD))
+ (pad 2 smd roundrect (at 1.4 0 270) (size 1.25 1.75) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2)
+ (net 20 "Net-(D19-Pad2)"))
+ (model ${KISYS3DMOD}/LED_SMD.3dshapes/LED_1206_3216Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module LED_SMD:LED_1206_3216Metric (layer F.Cu) (tedit 5F68FEF1) (tstamp 61B13CFA)
+ (at 149.86 128.905 270)
+ (descr "LED SMD 1206 (3216 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: http://www.tortai-tech.com/upload/download/2011102023233369053.pdf), generated with kicad-footprint-generator")
+ (tags LED)
+ (path /62BD6569)
+ (attr smd)
+ (fp_text reference D20 (at -3.937 -0.508 90) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value E1A (at 5.207 0 90) (layer F.SilkS)
+ (effects (font (size 1.016 1.016) (thickness 0.15)) (justify left))
+ )
+ (fp_line (start 1.6 -0.8) (end -1.2 -0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.2 -0.8) (end -1.6 -0.4) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.6 -0.4) (end -1.6 0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.6 0.8) (end 1.6 0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start 1.6 0.8) (end 1.6 -0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start 1.6 -1.135) (end -2.285 -1.135) (layer F.SilkS) (width 0.12))
+ (fp_line (start -2.285 -1.135) (end -2.285 1.135) (layer F.SilkS) (width 0.12))
+ (fp_line (start -2.285 1.135) (end 1.6 1.135) (layer F.SilkS) (width 0.12))
+ (fp_line (start -2.28 1.12) (end -2.28 -1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -2.28 -1.12) (end 2.28 -1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 2.28 -1.12) (end 2.28 1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 2.28 1.12) (end -2.28 1.12) (layer F.CrtYd) (width 0.05))
+ (fp_text user %R (at 3.2258 -0.0508 90) (layer F.Fab)
+ (effects (font (size 0.8 0.8) (thickness 0.12)))
+ )
+ (pad 2 smd roundrect (at 1.4 0 270) (size 1.25 1.75) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2)
+ (net 21 "Net-(D20-Pad2)"))
+ (pad 1 smd roundrect (at -1.4 0 270) (size 1.25 1.75) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2)
+ (net 5 GNDD))
+ (model ${KISYS3DMOD}/LED_SMD.3dshapes/LED_1206_3216Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Diode_SMD:D_SMA (layer F.Cu) (tedit 586432E5) (tstamp 61B13D12)
+ (at 152.4 120.65 180)
+ (descr "Diode SMA (DO-214AC)")
+ (tags "Diode SMA (DO-214AC)")
+ (path /63A30734)
+ (attr smd)
+ (fp_text reference D21 (at 0 -2.5) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value SMA6J5.0A (at 0 2.6) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start -3.4 -1.65) (end 2 -1.65) (layer F.SilkS) (width 0.12))
+ (fp_line (start -3.4 1.65) (end 2 1.65) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.64944 0.00102) (end 0.50118 -0.79908) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.64944 0.00102) (end 0.50118 0.75032) (layer F.Fab) (width 0.1))
+ (fp_line (start 0.50118 0.75032) (end 0.50118 -0.79908) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.64944 -0.79908) (end -0.64944 0.80112) (layer F.Fab) (width 0.1))
+ (fp_line (start 0.50118 0.00102) (end 1.4994 0.00102) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.64944 0.00102) (end -1.55114 0.00102) (layer F.Fab) (width 0.1))
+ (fp_line (start -3.5 1.75) (end -3.5 -1.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 3.5 1.75) (end -3.5 1.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 3.5 -1.75) (end 3.5 1.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -3.5 -1.75) (end 3.5 -1.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 2.3 -1.5) (end -2.3 -1.5) (layer F.Fab) (width 0.1))
+ (fp_line (start 2.3 -1.5) (end 2.3 1.5) (layer F.Fab) (width 0.1))
+ (fp_line (start -2.3 1.5) (end -2.3 -1.5) (layer F.Fab) (width 0.1))
+ (fp_line (start 2.3 1.5) (end -2.3 1.5) (layer F.Fab) (width 0.1))
+ (fp_line (start -3.4 -1.65) (end -3.4 1.65) (layer F.SilkS) (width 0.12))
+ (fp_text user %R (at -4.826 0) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (pad 1 smd rect (at -2 0 180) (size 2.5 1.8) (layers F.Cu F.Paste F.Mask)
+ (net 42 /RATE-PWM-RIO))
+ (pad 2 smd rect (at 2 0 180) (size 2.5 1.8) (layers F.Cu F.Paste F.Mask)
+ (net 5 GNDD))
+ (model ${KISYS3DMOD}/Diode_SMD.3dshapes/D_SMA.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Diode_SMD:D_SMC (layer F.Cu) (tedit 5864295D) (tstamp 61B13D42)
+ (at 142.24 81.28 90)
+ (descr "Diode SMC (DO-214AB)")
+ (tags "Diode SMC (DO-214AB)")
+ (path /62FD08B9)
+ (attr smd)
+ (fp_text reference D23 (at -5.842 -0.127 180) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value SMDJ5.0A (at 0 4.2 90) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start -4.8 3.25) (end -4.8 -3.25) (layer F.SilkS) (width 0.12))
+ (fp_line (start 3.55 3.1) (end -3.55 3.1) (layer F.Fab) (width 0.1))
+ (fp_line (start -3.55 3.1) (end -3.55 -3.1) (layer F.Fab) (width 0.1))
+ (fp_line (start 3.55 -3.1) (end 3.55 3.1) (layer F.Fab) (width 0.1))
+ (fp_line (start 3.55 -3.1) (end -3.55 -3.1) (layer F.Fab) (width 0.1))
+ (fp_line (start -4.9 -3.35) (end 4.9 -3.35) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 4.9 -3.35) (end 4.9 3.35) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 4.9 3.35) (end -4.9 3.35) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -4.9 3.35) (end -4.9 -3.35) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -0.64944 0.00102) (end -1.55114 0.00102) (layer F.Fab) (width 0.1))
+ (fp_line (start 0.50118 0.00102) (end 1.4994 0.00102) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.64944 -0.79908) (end -0.64944 0.80112) (layer F.Fab) (width 0.1))
+ (fp_line (start 0.50118 0.75032) (end 0.50118 -0.79908) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.64944 0.00102) (end 0.50118 0.75032) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.64944 0.00102) (end 0.50118 -0.79908) (layer F.Fab) (width 0.1))
+ (fp_line (start -4.8 3.25) (end 3.6 3.25) (layer F.SilkS) (width 0.12))
+ (fp_line (start -4.8 -3.25) (end 3.6 -3.25) (layer F.SilkS) (width 0.12))
+ (fp_text user %R (at -5.715 0 180) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (pad 2 smd rect (at 3.4 0 180) (size 3.3 2.5) (layers F.Cu F.Paste F.Mask)
+ (net 5 GNDD))
+ (pad 1 smd rect (at -3.4 0 180) (size 3.3 2.5) (layers F.Cu F.Paste F.Mask)
+ (net 4 +5VD))
+ (model ${KISYS3DMOD}/Diode_SMD.3dshapes/D_SMC.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module LED_SMD:LED_1206_3216Metric (layer F.Cu) (tedit 5F68FEF1) (tstamp 61B13D55)
+ (at 152.4 128.905 270)
+ (descr "LED SMD 1206 (3216 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: http://www.tortai-tech.com/upload/download/2011102023233369053.pdf), generated with kicad-footprint-generator")
+ (tags LED)
+ (path /61B6DBB0)
+ (attr smd)
+ (fp_text reference D24 (at -0.257 -2.032 90) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value RIO (at 5.077 0 90) (layer F.SilkS)
+ (effects (font (size 1.016 1.016) (thickness 0.15)) (justify left))
+ )
+ (fp_line (start 1.6 -0.8) (end -1.2 -0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.2 -0.8) (end -1.6 -0.4) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.6 -0.4) (end -1.6 0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.6 0.8) (end 1.6 0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start 1.6 0.8) (end 1.6 -0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start 1.6 -1.135) (end -2.285 -1.135) (layer F.SilkS) (width 0.12))
+ (fp_line (start -2.285 -1.135) (end -2.285 1.135) (layer F.SilkS) (width 0.12))
+ (fp_line (start -2.285 1.135) (end 1.6 1.135) (layer F.SilkS) (width 0.12))
+ (fp_line (start -2.28 1.12) (end -2.28 -1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -2.28 -1.12) (end 2.28 -1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 2.28 -1.12) (end 2.28 1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 2.28 1.12) (end -2.28 1.12) (layer F.CrtYd) (width 0.05))
+ (fp_text user %R (at 3.2512 -0.0508 90) (layer F.Fab)
+ (effects (font (size 0.8 0.8) (thickness 0.12)))
+ )
+ (pad 2 smd roundrect (at 1.4 0 270) (size 1.25 1.75) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2)
+ (net 22 "Net-(D24-Pad2)"))
+ (pad 1 smd roundrect (at -1.4 0 270) (size 1.25 1.75) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2)
+ (net 5 GNDD))
+ (model ${KISYS3DMOD}/LED_SMD.3dshapes/LED_1206_3216Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Diode_SMD:D_SMC (layer F.Cu) (tedit 5864295D) (tstamp 61B13D6D)
+ (at 100.33 78.74)
+ (descr "Diode SMC (DO-214AB)")
+ (tags "Diode SMC (DO-214AB)")
+ (path /62FCEF7B)
+ (attr smd)
+ (fp_text reference D25 (at 0 -4.1) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value SMDJ5.0A (at 0 4.2) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start -4.8 -3.25) (end 3.6 -3.25) (layer F.SilkS) (width 0.12))
+ (fp_line (start -4.8 3.25) (end 3.6 3.25) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.64944 0.00102) (end 0.50118 -0.79908) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.64944 0.00102) (end 0.50118 0.75032) (layer F.Fab) (width 0.1))
+ (fp_line (start 0.50118 0.75032) (end 0.50118 -0.79908) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.64944 -0.79908) (end -0.64944 0.80112) (layer F.Fab) (width 0.1))
+ (fp_line (start 0.50118 0.00102) (end 1.4994 0.00102) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.64944 0.00102) (end -1.55114 0.00102) (layer F.Fab) (width 0.1))
+ (fp_line (start -4.9 3.35) (end -4.9 -3.35) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 4.9 3.35) (end -4.9 3.35) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 4.9 -3.35) (end 4.9 3.35) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -4.9 -3.35) (end 4.9 -3.35) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 3.55 -3.1) (end -3.55 -3.1) (layer F.Fab) (width 0.1))
+ (fp_line (start 3.55 -3.1) (end 3.55 3.1) (layer F.Fab) (width 0.1))
+ (fp_line (start -3.55 3.1) (end -3.55 -3.1) (layer F.Fab) (width 0.1))
+ (fp_line (start 3.55 3.1) (end -3.55 3.1) (layer F.Fab) (width 0.1))
+ (fp_line (start -4.8 3.25) (end -4.8 -3.25) (layer F.SilkS) (width 0.12))
+ (fp_text user %R (at 0 -1.9) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (pad 1 smd rect (at -3.4 0 90) (size 3.3 2.5) (layers F.Cu F.Paste F.Mask)
+ (net 3 +5V))
+ (pad 2 smd rect (at 3.4 0 90) (size 3.3 2.5) (layers F.Cu F.Paste F.Mask)
+ (net 1 GND))
+ (model ${KISYS3DMOD}/Diode_SMD.3dshapes/D_SMC.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module LED_SMD:LED_1206_3216Metric (layer F.Cu) (tedit 5F68FEF1) (tstamp 61B13D80)
+ (at 99.06 123.19 180)
+ (descr "LED SMD 1206 (3216 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: http://www.tortai-tech.com/upload/download/2011102023233369053.pdf), generated with kicad-footprint-generator")
+ (tags LED)
+ (path /61B74777)
+ (attr smd)
+ (fp_text reference D26 (at 0 -2.032) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value "PI PWR" (at -2.921 0) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify left))
+ )
+ (fp_line (start 2.28 1.12) (end -2.28 1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 2.28 -1.12) (end 2.28 1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -2.28 -1.12) (end 2.28 -1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -2.28 1.12) (end -2.28 -1.12) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -2.285 1.135) (end 1.6 1.135) (layer F.SilkS) (width 0.12))
+ (fp_line (start -2.285 -1.135) (end -2.285 1.135) (layer F.SilkS) (width 0.12))
+ (fp_line (start 1.6 -1.135) (end -2.285 -1.135) (layer F.SilkS) (width 0.12))
+ (fp_line (start 1.6 0.8) (end 1.6 -0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.6 0.8) (end 1.6 0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.6 -0.4) (end -1.6 0.8) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.2 -0.8) (end -1.6 -0.4) (layer F.Fab) (width 0.1))
+ (fp_line (start 1.6 -0.8) (end -1.2 -0.8) (layer F.Fab) (width 0.1))
+ (fp_text user %R (at -3.302 0) (layer F.Fab)
+ (effects (font (size 0.8 0.8) (thickness 0.12)))
+ )
+ (pad 1 smd roundrect (at -1.4 0 180) (size 1.25 1.75) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2)
+ (net 1 GND))
+ (pad 2 smd roundrect (at 1.4 0 180) (size 1.25 1.75) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2)
+ (net 23 "Net-(D26-Pad2)"))
+ (model ${KISYS3DMOD}/LED_SMD.3dshapes/LED_1206_3216Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Connector_Molex:Molex_KK-254_AE-6410-04A_1x04_P2.54mm_Vertical (layer F.Cu) (tedit 5EA53D3B) (tstamp 61B169B6)
+ (at 167.64 90.17 180)
+ (descr "Molex KK-254 Interconnect System, old/engineering part number: AE-6410-04A example for new part number: 22-27-2041, 4 Pins (http://www.molex.com/pdm_docs/sd/022272021_sd.pdf), generated with kicad-footprint-generator")
+ (tags "connector Molex KK-254 vertical")
+ (path /6328BC56)
+ (fp_text reference J2 (at 10.033 2.286) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value "ENCODER 1" (at 3.81 4.08) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start 9.39 -3.42) (end -1.77 -3.42) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 9.39 3.38) (end 9.39 -3.42) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.77 3.38) (end 9.39 3.38) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.77 -3.42) (end -1.77 3.38) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 8.42 -2.43) (end 8.42 -3.03) (layer F.SilkS) (width 0.12))
+ (fp_line (start 6.82 -2.43) (end 8.42 -2.43) (layer F.SilkS) (width 0.12))
+ (fp_line (start 6.82 -3.03) (end 6.82 -2.43) (layer F.SilkS) (width 0.12))
+ (fp_line (start 5.88 -2.43) (end 5.88 -3.03) (layer F.SilkS) (width 0.12))
+ (fp_line (start 4.28 -2.43) (end 5.88 -2.43) (layer F.SilkS) (width 0.12))
+ (fp_line (start 4.28 -3.03) (end 4.28 -2.43) (layer F.SilkS) (width 0.12))
+ (fp_line (start 3.34 -2.43) (end 3.34 -3.03) (layer F.SilkS) (width 0.12))
+ (fp_line (start 1.74 -2.43) (end 3.34 -2.43) (layer F.SilkS) (width 0.12))
+ (fp_line (start 1.74 -3.03) (end 1.74 -2.43) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0.8 -2.43) (end 0.8 -3.03) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.8 -2.43) (end 0.8 -2.43) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.8 -3.03) (end -0.8 -2.43) (layer F.SilkS) (width 0.12))
+ (fp_line (start 7.37 2.99) (end 7.37 1.99) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0.25 2.99) (end 0.25 1.99) (layer F.SilkS) (width 0.12))
+ (fp_line (start 7.37 1.46) (end 7.62 1.99) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0.25 1.46) (end 7.37 1.46) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0 1.99) (end 0.25 1.46) (layer F.SilkS) (width 0.12))
+ (fp_line (start 7.62 1.99) (end 7.62 2.99) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0 1.99) (end 7.62 1.99) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0 2.99) (end 0 1.99) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.562893 0) (end -1.27 0.5) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.27 -0.5) (end -0.562893 0) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.67 -2) (end -1.67 2) (layer F.SilkS) (width 0.12))
+ (fp_line (start 9 -3.03) (end -1.38 -3.03) (layer F.SilkS) (width 0.12))
+ (fp_line (start 9 2.99) (end 9 -3.03) (layer F.SilkS) (width 0.12))
+ (fp_line (start -1.38 2.99) (end 9 2.99) (layer F.SilkS) (width 0.12))
+ (fp_line (start -1.38 -3.03) (end -1.38 2.99) (layer F.SilkS) (width 0.12))
+ (fp_line (start 8.89 -2.92) (end -1.27 -2.92) (layer F.Fab) (width 0.1))
+ (fp_line (start 8.89 2.88) (end 8.89 -2.92) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.27 2.88) (end 8.89 2.88) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.27 -2.92) (end -1.27 2.88) (layer F.Fab) (width 0.1))
+ (fp_text user %R (at 3.81 -2.22) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (pad 1 thru_hole roundrect (at 0 0 180) (size 1.74 2.19) (drill 1.19) (layers *.Cu *.Mask) (roundrect_rratio 0.1436775862068966)
+ (net 5 GNDD))
+ (pad 2 thru_hole oval (at 2.54 0 180) (size 1.74 2.19) (drill 1.19) (layers *.Cu *.Mask)
+ (net 4 +5VD))
+ (pad 3 thru_hole oval (at 5.08 0 180) (size 1.74 2.19) (drill 1.19) (layers *.Cu *.Mask)
+ (net 34 /EN1A))
+ (pad 4 thru_hole oval (at 7.62 0 180) (size 1.74 2.19) (drill 1.19) (layers *.Cu *.Mask)
+ (net 35 /EN1B))
+ (model ${KISYS3DMOD}/Connector_Molex.3dshapes/Molex_KK-254_AE-6410-04A_1x04_P2.54mm_Vertical.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Connector_Molex:Molex_KK-254_AE-6410-04A_1x04_P2.54mm_Vertical (layer F.Cu) (tedit 5EA53D3B) (tstamp 61B13E0A)
+ (at 167.64 80.01 180)
+ (descr "Molex KK-254 Interconnect System, old/engineering part number: AE-6410-04A example for new part number: 22-27-2041, 4 Pins (http://www.molex.com/pdm_docs/sd/022272021_sd.pdf), generated with kicad-footprint-generator")
+ (tags "connector Molex KK-254 vertical")
+ (path /6328AC61)
+ (fp_text reference J3 (at 10.16 2.159) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value "ENCODER 2" (at 3.81 4.08) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start -1.27 -2.92) (end -1.27 2.88) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.27 2.88) (end 8.89 2.88) (layer F.Fab) (width 0.1))
+ (fp_line (start 8.89 2.88) (end 8.89 -2.92) (layer F.Fab) (width 0.1))
+ (fp_line (start 8.89 -2.92) (end -1.27 -2.92) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.38 -3.03) (end -1.38 2.99) (layer F.SilkS) (width 0.12))
+ (fp_line (start -1.38 2.99) (end 9 2.99) (layer F.SilkS) (width 0.12))
+ (fp_line (start 9 2.99) (end 9 -3.03) (layer F.SilkS) (width 0.12))
+ (fp_line (start 9 -3.03) (end -1.38 -3.03) (layer F.SilkS) (width 0.12))
+ (fp_line (start -1.67 -2) (end -1.67 2) (layer F.SilkS) (width 0.12))
+ (fp_line (start -1.27 -0.5) (end -0.562893 0) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.562893 0) (end -1.27 0.5) (layer F.Fab) (width 0.1))
+ (fp_line (start 0 2.99) (end 0 1.99) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0 1.99) (end 7.62 1.99) (layer F.SilkS) (width 0.12))
+ (fp_line (start 7.62 1.99) (end 7.62 2.99) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0 1.99) (end 0.25 1.46) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0.25 1.46) (end 7.37 1.46) (layer F.SilkS) (width 0.12))
+ (fp_line (start 7.37 1.46) (end 7.62 1.99) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0.25 2.99) (end 0.25 1.99) (layer F.SilkS) (width 0.12))
+ (fp_line (start 7.37 2.99) (end 7.37 1.99) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.8 -3.03) (end -0.8 -2.43) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.8 -2.43) (end 0.8 -2.43) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0.8 -2.43) (end 0.8 -3.03) (layer F.SilkS) (width 0.12))
+ (fp_line (start 1.74 -3.03) (end 1.74 -2.43) (layer F.SilkS) (width 0.12))
+ (fp_line (start 1.74 -2.43) (end 3.34 -2.43) (layer F.SilkS) (width 0.12))
+ (fp_line (start 3.34 -2.43) (end 3.34 -3.03) (layer F.SilkS) (width 0.12))
+ (fp_line (start 4.28 -3.03) (end 4.28 -2.43) (layer F.SilkS) (width 0.12))
+ (fp_line (start 4.28 -2.43) (end 5.88 -2.43) (layer F.SilkS) (width 0.12))
+ (fp_line (start 5.88 -2.43) (end 5.88 -3.03) (layer F.SilkS) (width 0.12))
+ (fp_line (start 6.82 -3.03) (end 6.82 -2.43) (layer F.SilkS) (width 0.12))
+ (fp_line (start 6.82 -2.43) (end 8.42 -2.43) (layer F.SilkS) (width 0.12))
+ (fp_line (start 8.42 -2.43) (end 8.42 -3.03) (layer F.SilkS) (width 0.12))
+ (fp_line (start -1.77 -3.42) (end -1.77 3.38) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.77 3.38) (end 9.39 3.38) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 9.39 3.38) (end 9.39 -3.42) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 9.39 -3.42) (end -1.77 -3.42) (layer F.CrtYd) (width 0.05))
+ (fp_text user %R (at 3.81 -2.22) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (pad 4 thru_hole oval (at 7.62 0 180) (size 1.74 2.19) (drill 1.19) (layers *.Cu *.Mask)
+ (net 36 /EN2B))
+ (pad 3 thru_hole oval (at 5.08 0 180) (size 1.74 2.19) (drill 1.19) (layers *.Cu *.Mask)
+ (net 37 /EN2A))
+ (pad 2 thru_hole oval (at 2.54 0 180) (size 1.74 2.19) (drill 1.19) (layers *.Cu *.Mask)
+ (net 4 +5VD))
+ (pad 1 thru_hole roundrect (at 0 0 180) (size 1.74 2.19) (drill 1.19) (layers *.Cu *.Mask) (roundrect_rratio 0.1436775862068966)
+ (net 5 GNDD))
+ (model ${KISYS3DMOD}/Connector_Molex.3dshapes/Molex_KK-254_AE-6410-04A_1x04_P2.54mm_Vertical.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Connector_Molex:Molex_KK-254_AE-6410-04A_1x04_P2.54mm_Vertical (layer F.Cu) (tedit 5EA53D3B) (tstamp 61B13E62)
+ (at 167.64 100.33 180)
+ (descr "Molex KK-254 Interconnect System, old/engineering part number: AE-6410-04A example for new part number: 22-27-2041, 4 Pins (http://www.molex.com/pdm_docs/sd/022272021_sd.pdf), generated with kicad-footprint-generator")
+ (tags "connector Molex KK-254 vertical")
+ (path /63282B66)
+ (fp_text reference J5 (at 10.414 2.159) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value "RIO ENC 1" (at 3.81 4.08) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start -1.27 -2.92) (end -1.27 2.88) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.27 2.88) (end 8.89 2.88) (layer F.Fab) (width 0.1))
+ (fp_line (start 8.89 2.88) (end 8.89 -2.92) (layer F.Fab) (width 0.1))
+ (fp_line (start 8.89 -2.92) (end -1.27 -2.92) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.38 -3.03) (end -1.38 2.99) (layer F.SilkS) (width 0.12))
+ (fp_line (start -1.38 2.99) (end 9 2.99) (layer F.SilkS) (width 0.12))
+ (fp_line (start 9 2.99) (end 9 -3.03) (layer F.SilkS) (width 0.12))
+ (fp_line (start 9 -3.03) (end -1.38 -3.03) (layer F.SilkS) (width 0.12))
+ (fp_line (start -1.67 -2) (end -1.67 2) (layer F.SilkS) (width 0.12))
+ (fp_line (start -1.27 -0.5) (end -0.562893 0) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.562893 0) (end -1.27 0.5) (layer F.Fab) (width 0.1))
+ (fp_line (start 0 2.99) (end 0 1.99) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0 1.99) (end 7.62 1.99) (layer F.SilkS) (width 0.12))
+ (fp_line (start 7.62 1.99) (end 7.62 2.99) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0 1.99) (end 0.25 1.46) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0.25 1.46) (end 7.37 1.46) (layer F.SilkS) (width 0.12))
+ (fp_line (start 7.37 1.46) (end 7.62 1.99) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0.25 2.99) (end 0.25 1.99) (layer F.SilkS) (width 0.12))
+ (fp_line (start 7.37 2.99) (end 7.37 1.99) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.8 -3.03) (end -0.8 -2.43) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.8 -2.43) (end 0.8 -2.43) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0.8 -2.43) (end 0.8 -3.03) (layer F.SilkS) (width 0.12))
+ (fp_line (start 1.74 -3.03) (end 1.74 -2.43) (layer F.SilkS) (width 0.12))
+ (fp_line (start 1.74 -2.43) (end 3.34 -2.43) (layer F.SilkS) (width 0.12))
+ (fp_line (start 3.34 -2.43) (end 3.34 -3.03) (layer F.SilkS) (width 0.12))
+ (fp_line (start 4.28 -3.03) (end 4.28 -2.43) (layer F.SilkS) (width 0.12))
+ (fp_line (start 4.28 -2.43) (end 5.88 -2.43) (layer F.SilkS) (width 0.12))
+ (fp_line (start 5.88 -2.43) (end 5.88 -3.03) (layer F.SilkS) (width 0.12))
+ (fp_line (start 6.82 -3.03) (end 6.82 -2.43) (layer F.SilkS) (width 0.12))
+ (fp_line (start 6.82 -2.43) (end 8.42 -2.43) (layer F.SilkS) (width 0.12))
+ (fp_line (start 8.42 -2.43) (end 8.42 -3.03) (layer F.SilkS) (width 0.12))
+ (fp_line (start -1.77 -3.42) (end -1.77 3.38) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.77 3.38) (end 9.39 3.38) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 9.39 3.38) (end 9.39 -3.42) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 9.39 -3.42) (end -1.77 -3.42) (layer F.CrtYd) (width 0.05))
+ (fp_text user %R (at 3.81 -2.22) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (pad 4 thru_hole oval (at 7.62 0 180) (size 1.74 2.19) (drill 1.19) (layers *.Cu *.Mask)
+ (net 39 /EN1B-RIO))
+ (pad 3 thru_hole oval (at 5.08 0 180) (size 1.74 2.19) (drill 1.19) (layers *.Cu *.Mask)
+ (net 38 /EN1A-RIO))
+ (pad 2 thru_hole oval (at 2.54 0 180) (size 1.74 2.19) (drill 1.19) (layers *.Cu *.Mask)
+ (net 4 +5VD))
+ (pad 1 thru_hole roundrect (at 0 0 180) (size 1.74 2.19) (drill 1.19) (layers *.Cu *.Mask) (roundrect_rratio 0.1436775862068966)
+ (net 5 GNDD))
+ (model ${KISYS3DMOD}/Connector_Molex.3dshapes/Molex_KK-254_AE-6410-04A_1x04_P2.54mm_Vertical.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Connector_Molex:Molex_KK-254_AE-6410-04A_1x04_P2.54mm_Vertical (layer F.Cu) (tedit 5EA53D3B) (tstamp 61B13E8E)
+ (at 167.64 110.49 180)
+ (descr "Molex KK-254 Interconnect System, old/engineering part number: AE-6410-04A example for new part number: 22-27-2041, 4 Pins (http://www.molex.com/pdm_docs/sd/022272021_sd.pdf), generated with kicad-footprint-generator")
+ (tags "connector Molex KK-254 vertical")
+ (path /63281BEC)
+ (fp_text reference J6 (at 10.033 2.032) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value "RIO ENC 2" (at 3.81 3.81) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start 9.39 -3.42) (end -1.77 -3.42) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 9.39 3.38) (end 9.39 -3.42) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.77 3.38) (end 9.39 3.38) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.77 -3.42) (end -1.77 3.38) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 8.42 -2.43) (end 8.42 -3.03) (layer F.SilkS) (width 0.12))
+ (fp_line (start 6.82 -2.43) (end 8.42 -2.43) (layer F.SilkS) (width 0.12))
+ (fp_line (start 6.82 -3.03) (end 6.82 -2.43) (layer F.SilkS) (width 0.12))
+ (fp_line (start 5.88 -2.43) (end 5.88 -3.03) (layer F.SilkS) (width 0.12))
+ (fp_line (start 4.28 -2.43) (end 5.88 -2.43) (layer F.SilkS) (width 0.12))
+ (fp_line (start 4.28 -3.03) (end 4.28 -2.43) (layer F.SilkS) (width 0.12))
+ (fp_line (start 3.34 -2.43) (end 3.34 -3.03) (layer F.SilkS) (width 0.12))
+ (fp_line (start 1.74 -2.43) (end 3.34 -2.43) (layer F.SilkS) (width 0.12))
+ (fp_line (start 1.74 -3.03) (end 1.74 -2.43) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0.8 -2.43) (end 0.8 -3.03) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.8 -2.43) (end 0.8 -2.43) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.8 -3.03) (end -0.8 -2.43) (layer F.SilkS) (width 0.12))
+ (fp_line (start 7.37 2.99) (end 7.37 1.99) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0.25 2.99) (end 0.25 1.99) (layer F.SilkS) (width 0.12))
+ (fp_line (start 7.37 1.46) (end 7.62 1.99) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0.25 1.46) (end 7.37 1.46) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0 1.99) (end 0.25 1.46) (layer F.SilkS) (width 0.12))
+ (fp_line (start 7.62 1.99) (end 7.62 2.99) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0 1.99) (end 7.62 1.99) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0 2.99) (end 0 1.99) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.562893 0) (end -1.27 0.5) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.27 -0.5) (end -0.562893 0) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.67 -2) (end -1.67 2) (layer F.SilkS) (width 0.12))
+ (fp_line (start 9 -3.03) (end -1.38 -3.03) (layer F.SilkS) (width 0.12))
+ (fp_line (start 9 2.99) (end 9 -3.03) (layer F.SilkS) (width 0.12))
+ (fp_line (start -1.38 2.99) (end 9 2.99) (layer F.SilkS) (width 0.12))
+ (fp_line (start -1.38 -3.03) (end -1.38 2.99) (layer F.SilkS) (width 0.12))
+ (fp_line (start 8.89 -2.92) (end -1.27 -2.92) (layer F.Fab) (width 0.1))
+ (fp_line (start 8.89 2.88) (end 8.89 -2.92) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.27 2.88) (end 8.89 2.88) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.27 -2.92) (end -1.27 2.88) (layer F.Fab) (width 0.1))
+ (fp_text user %R (at 3.81 -2.22) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (pad 1 thru_hole roundrect (at 0 0 180) (size 1.74 2.19) (drill 1.19) (layers *.Cu *.Mask) (roundrect_rratio 0.1436775862068966)
+ (net 5 GNDD))
+ (pad 2 thru_hole oval (at 2.54 0 180) (size 1.74 2.19) (drill 1.19) (layers *.Cu *.Mask)
+ (net 4 +5VD))
+ (pad 3 thru_hole oval (at 5.08 0 180) (size 1.74 2.19) (drill 1.19) (layers *.Cu *.Mask)
+ (net 40 /EN2A-RIO))
+ (pad 4 thru_hole oval (at 7.62 0 180) (size 1.74 2.19) (drill 1.19) (layers *.Cu *.Mask)
+ (net 41 /EN2B-RIO))
+ (model ${KISYS3DMOD}/Connector_Molex.3dshapes/Molex_KK-254_AE-6410-04A_1x04_P2.54mm_Vertical.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Connector_Molex:Molex_KK-254_AE-6410-04A_1x04_P2.54mm_Vertical (layer F.Cu) (tedit 5EA53D3B) (tstamp 61B13EE6)
+ (at 167.64 120.65 180)
+ (descr "Molex KK-254 Interconnect System, old/engineering part number: AE-6410-04A example for new part number: 22-27-2041, 4 Pins (http://www.molex.com/pdm_docs/sd/022272021_sd.pdf), generated with kicad-footprint-generator")
+ (tags "connector Molex KK-254 vertical")
+ (path /6327FF9B)
+ (fp_text reference J8 (at 10.033 2.54) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value "RIO PWM" (at 3.556 3.937) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start 9.39 -3.42) (end -1.77 -3.42) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 9.39 3.38) (end 9.39 -3.42) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.77 3.38) (end 9.39 3.38) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.77 -3.42) (end -1.77 3.38) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 8.42 -2.43) (end 8.42 -3.03) (layer F.SilkS) (width 0.12))
+ (fp_line (start 6.82 -2.43) (end 8.42 -2.43) (layer F.SilkS) (width 0.12))
+ (fp_line (start 6.82 -3.03) (end 6.82 -2.43) (layer F.SilkS) (width 0.12))
+ (fp_line (start 5.88 -2.43) (end 5.88 -3.03) (layer F.SilkS) (width 0.12))
+ (fp_line (start 4.28 -2.43) (end 5.88 -2.43) (layer F.SilkS) (width 0.12))
+ (fp_line (start 4.28 -3.03) (end 4.28 -2.43) (layer F.SilkS) (width 0.12))
+ (fp_line (start 3.34 -2.43) (end 3.34 -3.03) (layer F.SilkS) (width 0.12))
+ (fp_line (start 1.74 -2.43) (end 3.34 -2.43) (layer F.SilkS) (width 0.12))
+ (fp_line (start 1.74 -3.03) (end 1.74 -2.43) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0.8 -2.43) (end 0.8 -3.03) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.8 -2.43) (end 0.8 -2.43) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.8 -3.03) (end -0.8 -2.43) (layer F.SilkS) (width 0.12))
+ (fp_line (start 7.37 2.99) (end 7.37 1.99) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0.25 2.99) (end 0.25 1.99) (layer F.SilkS) (width 0.12))
+ (fp_line (start 7.37 1.46) (end 7.62 1.99) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0.25 1.46) (end 7.37 1.46) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0 1.99) (end 0.25 1.46) (layer F.SilkS) (width 0.12))
+ (fp_line (start 7.62 1.99) (end 7.62 2.99) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0 1.99) (end 7.62 1.99) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0 2.99) (end 0 1.99) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.562893 0) (end -1.27 0.5) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.27 -0.5) (end -0.562893 0) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.67 -2) (end -1.67 2) (layer F.SilkS) (width 0.12))
+ (fp_line (start 9 -3.03) (end -1.38 -3.03) (layer F.SilkS) (width 0.12))
+ (fp_line (start 9 2.99) (end 9 -3.03) (layer F.SilkS) (width 0.12))
+ (fp_line (start -1.38 2.99) (end 9 2.99) (layer F.SilkS) (width 0.12))
+ (fp_line (start -1.38 -3.03) (end -1.38 2.99) (layer F.SilkS) (width 0.12))
+ (fp_line (start 8.89 -2.92) (end -1.27 -2.92) (layer F.Fab) (width 0.1))
+ (fp_line (start 8.89 2.88) (end 8.89 -2.92) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.27 2.88) (end 8.89 2.88) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.27 -2.92) (end -1.27 2.88) (layer F.Fab) (width 0.1))
+ (fp_text user %R (at 3.81 -2.22) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (pad 1 thru_hole roundrect (at 0 0 180) (size 1.74 2.19) (drill 1.19) (layers *.Cu *.Mask) (roundrect_rratio 0.1436775862068966)
+ (net 5 GNDD))
+ (pad 2 thru_hole oval (at 2.54 0 180) (size 1.74 2.19) (drill 1.19) (layers *.Cu *.Mask)
+ (net 4 +5VD))
+ (pad 3 thru_hole oval (at 5.08 0 180) (size 1.74 2.19) (drill 1.19) (layers *.Cu *.Mask)
+ (net 42 /RATE-PWM-RIO))
+ (pad 4 thru_hole oval (at 7.62 0 180) (size 1.74 2.19) (drill 1.19) (layers *.Cu *.Mask)
+ (net 43 /HEADING_PWM_RIO))
+ (model ${KISYS3DMOD}/Connector_Molex.3dshapes/Molex_KK-254_AE-6410-04A_1x04_P2.54mm_Vertical.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Connector_PinHeader_2.54mm:PinHeader_1x02_P2.54mm_Vertical (layer F.Cu) (tedit 59FED5CC) (tstamp 61B13F28)
+ (at 142.24 69.85 270)
+ (descr "Through hole straight pin header, 1x02, 2.54mm pitch, single row")
+ (tags "Through hole pin header THT 1x02 2.54mm single row")
+ (path /632AB2B3)
+ (fp_text reference J10 (at 0 -3.175 180) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value Conn_01x02_Male (at 0.0508 -3.3528 90) (layer F.Fab) hide
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start 1.8 -1.8) (end -1.8 -1.8) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 1.8 4.35) (end 1.8 -1.8) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.8 4.35) (end 1.8 4.35) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.8 -1.8) (end -1.8 4.35) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.33 -1.33) (end 0 -1.33) (layer F.SilkS) (width 0.12))
+ (fp_line (start -1.33 0) (end -1.33 -1.33) (layer F.SilkS) (width 0.12))
+ (fp_line (start -1.33 1.27) (end 1.33 1.27) (layer F.SilkS) (width 0.12))
+ (fp_line (start 1.33 1.27) (end 1.33 3.87) (layer F.SilkS) (width 0.12))
+ (fp_line (start -1.33 1.27) (end -1.33 3.87) (layer F.SilkS) (width 0.12))
+ (fp_line (start -1.33 3.87) (end 1.33 3.87) (layer F.SilkS) (width 0.12))
+ (fp_line (start -1.27 -0.635) (end -0.635 -1.27) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.27 3.81) (end -1.27 -0.635) (layer F.Fab) (width 0.1))
+ (fp_line (start 1.27 3.81) (end -1.27 3.81) (layer F.Fab) (width 0.1))
+ (fp_line (start 1.27 -1.27) (end 1.27 3.81) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.635 -1.27) (end 1.27 -1.27) (layer F.Fab) (width 0.1))
+ (fp_text user %R (at 0 -2.794) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (pad 1 thru_hole rect (at 0 0 270) (size 1.7 1.7) (drill 1) (layers *.Cu *.Mask)
+ (net 4 +5VD))
+ (pad 2 thru_hole oval (at 0 2.54 270) (size 1.7 1.7) (drill 1) (layers *.Cu *.Mask)
+ (net 3 +5V))
+ (model ${KISYS3DMOD}/Connector_PinHeader_2.54mm.3dshapes/PinHeader_1x02_P2.54mm_Vertical.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Connector_PinHeader_2.54mm:PinHeader_1x02_P2.54mm_Vertical (layer F.Cu) (tedit 59FED5CC) (tstamp 61B13F3E)
+ (at 142.24 73.66 270)
+ (descr "Through hole straight pin header, 1x02, 2.54mm pitch, single row")
+ (tags "Through hole pin header THT 1x02 2.54mm single row")
+ (path /62FE2251)
+ (fp_text reference J11 (at -0.127 -3.302 180) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value Conn_01x02_Male (at 0 4.87 90) (layer F.Fab) hide
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start -0.635 -1.27) (end 1.27 -1.27) (layer F.Fab) (width 0.1))
+ (fp_line (start 1.27 -1.27) (end 1.27 3.81) (layer F.Fab) (width 0.1))
+ (fp_line (start 1.27 3.81) (end -1.27 3.81) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.27 3.81) (end -1.27 -0.635) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.27 -0.635) (end -0.635 -1.27) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.33 3.87) (end 1.33 3.87) (layer F.SilkS) (width 0.12))
+ (fp_line (start -1.33 1.27) (end -1.33 3.87) (layer F.SilkS) (width 0.12))
+ (fp_line (start 1.33 1.27) (end 1.33 3.87) (layer F.SilkS) (width 0.12))
+ (fp_line (start -1.33 1.27) (end 1.33 1.27) (layer F.SilkS) (width 0.12))
+ (fp_line (start -1.33 0) (end -1.33 -1.33) (layer F.SilkS) (width 0.12))
+ (fp_line (start -1.33 -1.33) (end 0 -1.33) (layer F.SilkS) (width 0.12))
+ (fp_line (start -1.8 -1.8) (end -1.8 4.35) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.8 4.35) (end 1.8 4.35) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 1.8 4.35) (end 1.8 -1.8) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 1.8 -1.8) (end -1.8 -1.8) (layer F.CrtYd) (width 0.05))
+ (fp_text user %R (at -0.254 -2.667) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (pad 2 thru_hole oval (at 0 2.54 270) (size 1.7 1.7) (drill 1) (layers *.Cu *.Mask)
+ (net 1 GND))
+ (pad 1 thru_hole rect (at 0 0 270) (size 1.7 1.7) (drill 1) (layers *.Cu *.Mask)
+ (net 5 GNDD))
+ (model ${KISYS3DMOD}/Connector_PinHeader_2.54mm.3dshapes/PinHeader_1x02_P2.54mm_Vertical.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer F.Cu) (tedit 5F68FEEE) (tstamp 61B13F4F)
+ (at 114.3 87.63 270)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /61B052B1)
+ (attr smd)
+ (fp_text reference R1 (at 3.81 0 90) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value 33R (at 3.175 0 90) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start -1 0.625) (end -1 -0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start -1 -0.625) (end 1 -0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start 1 -0.625) (end 1 0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end -1 0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer F.SilkS) (width 0.12))
+ (fp_line (start -1.68 0.95) (end -1.68 -0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.68 -0.95) (end 1.68 -0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 1.68 -0.95) (end 1.68 0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 1.68 0.95) (end -1.68 0.95) (layer F.CrtYd) (width 0.05))
+ (fp_text user %R (at -1.778 0 180) (layer F.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)))
+ )
+ (pad 2 smd roundrect (at 0.9125 0 270) (size 1.025 1.4) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 44 /MOSI_PI))
+ (pad 1 smd roundrect (at -0.9125 0 270) (size 1.025 1.4) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 45 "Net-(R1-Pad1)"))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer B.Cu) (tedit 5F68FEEE) (tstamp 61B13F60)
+ (at 114.3 78.74)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /61C6EFD1)
+ (attr smd)
+ (fp_text reference R2 (at -3.048 0) (layer B.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_text value 121R (at 0 -1.65) (layer B.Fab)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_line (start -1 -0.625) (end -1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end 1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end 1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 -0.625) (end -1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -1.68 -0.95) (end -1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 0.95) (end 1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 0.95) (end 1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 -0.95) (end -1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_text user %R (at 0 1.143) (layer B.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)) (justify mirror))
+ )
+ (pad 2 smd roundrect (at 0.9125 0) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 30 /MOSI_L))
+ (pad 1 smd roundrect (at -0.9125 0) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 25 /MOSI_H))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer B.Cu) (tedit 5F68FEEE) (tstamp 61B13F71)
+ (at 99.06 115.57)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /622FC68E)
+ (attr smd)
+ (fp_text reference R3 (at 3.175 -1.016) (layer B.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_text value 1.00K (at 3.683 0.0508) (layer B.Fab)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_line (start -1 -0.625) (end -1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end 1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end 1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 -0.625) (end -1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -1.68 -0.95) (end -1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 0.95) (end 1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 0.95) (end 1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 -0.95) (end -1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_text user %R (at 0 -1.016) (layer B.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)) (justify mirror))
+ )
+ (pad 2 smd roundrect (at 0.9125 0) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 46 "Net-(R3-Pad2)"))
+ (pad 1 smd roundrect (at -0.9125 0) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 10 "Net-(D1-Pad2)"))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer B.Cu) (tedit 5F68FEEE) (tstamp 61B13F82)
+ (at 99.06 113.03)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /622FC0FC)
+ (attr smd)
+ (fp_text reference R4 (at 3.175 -0.127) (layer B.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_text value 1.00K (at 3.683 0.0762) (layer B.Fab)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_line (start 1.68 -0.95) (end -1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 0.95) (end 1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 0.95) (end 1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 -0.95) (end -1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start 1 -0.625) (end -1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end 1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end 1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 -0.625) (end -1 0.625) (layer B.Fab) (width 0.1))
+ (fp_text user %R (at 0 -1.016) (layer B.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)) (justify mirror))
+ )
+ (pad 1 smd roundrect (at -0.9125 0) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 11 "Net-(D2-Pad2)"))
+ (pad 2 smd roundrect (at 0.9125 0) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 47 "Net-(R4-Pad2)"))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer B.Cu) (tedit 5F68FEEE) (tstamp 61B13F93)
+ (at 99.06 110.49)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /622FBC16)
+ (attr smd)
+ (fp_text reference R5 (at 2.921 0) (layer B.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_text value 1.00K (at 3.683 0.1016) (layer B.Fab)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_line (start -1 -0.625) (end -1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end 1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end 1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 -0.625) (end -1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -1.68 -0.95) (end -1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 0.95) (end 1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 0.95) (end 1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 -0.95) (end -1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_text user %R (at 0 -1.016 180) (layer B.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)) (justify mirror))
+ )
+ (pad 2 smd roundrect (at 0.9125 0) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 48 "Net-(R5-Pad2)"))
+ (pad 1 smd roundrect (at -0.9125 0) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 12 "Net-(D3-Pad2)"))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer B.Cu) (tedit 5F68FEEE) (tstamp 61B13FB5)
+ (at 99.06 120.65)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /621AE73C)
+ (attr smd)
+ (fp_text reference R7 (at 2.667 0.127) (layer B.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_text value 1.00K (at 3.683 0.0762) (layer B.Fab)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_line (start -1 -0.625) (end -1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end 1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end 1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 -0.625) (end -1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -1.68 -0.95) (end -1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 0.95) (end 1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 0.95) (end 1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 -0.95) (end -1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_text user %R (at 0 -1.016) (layer B.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)) (justify mirror))
+ )
+ (pad 2 smd roundrect (at 0.9125 0) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 50 "Net-(R7-Pad2)"))
+ (pad 1 smd roundrect (at -0.9125 0) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 14 "Net-(D5-Pad2)"))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer F.Cu) (tedit 5F68FEEE) (tstamp 61B13FC6)
+ (at 122.555 87.63 270)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /61B057D7)
+ (attr smd)
+ (fp_text reference R8 (at 3.683 0 90) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value 33R (at 3.175 0 90) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start 1.68 0.95) (end -1.68 0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 1.68 -0.95) (end 1.68 0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.68 -0.95) (end 1.68 -0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.68 0.95) (end -1.68 -0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer F.SilkS) (width 0.12))
+ (fp_line (start 1 0.625) (end -1 0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start 1 -0.625) (end 1 0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start -1 -0.625) (end 1 -0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end -1 -0.625) (layer F.Fab) (width 0.1))
+ (fp_text user %R (at -1.778 0 180) (layer F.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)))
+ )
+ (pad 1 smd roundrect (at -0.9125 0 270) (size 1.025 1.4) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 51 "Net-(R8-Pad1)"))
+ (pad 2 smd roundrect (at 0.9125 0 270) (size 1.025 1.4) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 52 /SCK_PI))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer B.Cu) (tedit 5F68FEEE) (tstamp 61B13FD7)
+ (at 120.65 78.74)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /61CBE115)
+ (attr smd)
+ (fp_text reference R9 (at -2.794 0) (layer B.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_text value 121R (at 0 -1.65) (layer B.Fab)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_line (start 1.68 -0.95) (end -1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 0.95) (end 1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 0.95) (end 1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 -0.95) (end -1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start 1 -0.625) (end -1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end 1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end 1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 -0.625) (end -1 0.625) (layer B.Fab) (width 0.1))
+ (fp_text user %R (at 0 1.143) (layer B.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)) (justify mirror))
+ )
+ (pad 1 smd roundrect (at -0.9125 0) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 27 /SCK_H))
+ (pad 2 smd roundrect (at 0.9125 0) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 32 /SCK_L))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer F.Cu) (tedit 5F68FEEE) (tstamp 61B13FE8)
+ (at 127 101.6)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /61B123D1)
+ (attr smd)
+ (fp_text reference R10 (at 4.064 0) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value 4.99k (at 3.556 0) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start -1 0.625) (end -1 -0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start -1 -0.625) (end 1 -0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start 1 -0.625) (end 1 0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end -1 0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer F.SilkS) (width 0.12))
+ (fp_line (start -1.68 0.95) (end -1.68 -0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.68 -0.95) (end 1.68 -0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 1.68 -0.95) (end 1.68 0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 1.68 0.95) (end -1.68 0.95) (layer F.CrtYd) (width 0.05))
+ (fp_text user %R (at -2.032 0 90) (layer F.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)))
+ )
+ (pad 2 smd roundrect (at 0.9125 0) (size 1.025 1.4) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 2 +3V3))
+ (pad 1 smd roundrect (at -0.9125 0) (size 1.025 1.4) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 84 /RST_IMU))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer F.Cu) (tedit 5F68FEEE) (tstamp 61B13FF9)
+ (at 127 104.14 180)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /61AEB698)
+ (attr smd)
+ (fp_text reference R11 (at -4.064 0) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value 33R (at -2.921 -0.0508) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start -1 0.625) (end -1 -0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start -1 -0.625) (end 1 -0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start 1 -0.625) (end 1 0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end -1 0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer F.SilkS) (width 0.12))
+ (fp_line (start -1.68 0.95) (end -1.68 -0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.68 -0.95) (end 1.68 -0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 1.68 -0.95) (end 1.68 0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 1.68 0.95) (end -1.68 0.95) (layer F.CrtYd) (width 0.05))
+ (fp_text user %R (at 1.905 0 90) (layer F.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)))
+ )
+ (pad 2 smd roundrect (at 0.9125 0 180) (size 1.025 1.4) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 84 /RST_IMU))
+ (pad 1 smd roundrect (at -0.9125 0 180) (size 1.025 1.4) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 53 "Net-(R11-Pad1)"))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer F.Cu) (tedit 5F68FEEE) (tstamp 61B1400A)
+ (at 111.76 81.915 270)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /61B04219)
+ (attr smd)
+ (fp_text reference R12 (at -0.127 1.651 90) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value 33R (at 0 1.65 90) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start 1.68 0.95) (end -1.68 0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 1.68 -0.95) (end 1.68 0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.68 -0.95) (end 1.68 -0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.68 0.95) (end -1.68 -0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer F.SilkS) (width 0.12))
+ (fp_line (start 1 0.625) (end -1 0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start 1 -0.625) (end 1 0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start -1 -0.625) (end 1 -0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end -1 -0.625) (layer F.Fab) (width 0.1))
+ (fp_text user %R (at -1.905 0 180) (layer F.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)))
+ )
+ (pad 1 smd roundrect (at -0.9125 0 270) (size 1.025 1.4) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 54 /DR_PI))
+ (pad 2 smd roundrect (at 0.9125 0 270) (size 1.025 1.4) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 55 "Net-(R12-Pad2)"))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer F.Cu) (tedit 5F68FEEE) (tstamp 61B1401B)
+ (at 127 96.52 180)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /61AEE73C)
+ (attr smd)
+ (fp_text reference R13 (at -4.064 0) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value 33R (at -2.921 0) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start 1.68 0.95) (end -1.68 0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 1.68 -0.95) (end 1.68 0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.68 -0.95) (end 1.68 -0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.68 0.95) (end -1.68 -0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer F.SilkS) (width 0.12))
+ (fp_line (start 1 0.625) (end -1 0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start 1 -0.625) (end 1 0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start -1 -0.625) (end 1 -0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end -1 -0.625) (layer F.Fab) (width 0.1))
+ (fp_text user %R (at 2.032 0 90) (layer F.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)))
+ )
+ (pad 1 smd roundrect (at -0.9125 0 180) (size 1.025 1.4) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 56 "Net-(R13-Pad1)"))
+ (pad 2 smd roundrect (at 0.9125 0 180) (size 1.025 1.4) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 85 /DR_IMU))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer F.Cu) (tedit 5F68FEEE) (tstamp 61B1402C)
+ (at 127 99.06 180)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /61AEF09F)
+ (attr smd)
+ (fp_text reference R14 (at -4.064 0) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value 33R (at -2.921 -0.127) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start 1.68 0.95) (end -1.68 0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 1.68 -0.95) (end 1.68 0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.68 -0.95) (end 1.68 -0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.68 0.95) (end -1.68 -0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer F.SilkS) (width 0.12))
+ (fp_line (start 1 0.625) (end -1 0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start 1 -0.625) (end 1 0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start -1 -0.625) (end 1 -0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end -1 -0.625) (layer F.Fab) (width 0.1))
+ (fp_text user %R (at 2.032 -0.127 90) (layer F.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)))
+ )
+ (pad 1 smd roundrect (at -0.9125 0 180) (size 1.025 1.4) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 57 "Net-(R14-Pad1)"))
+ (pad 2 smd roundrect (at 0.9125 0 180) (size 1.025 1.4) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 86 /SYNC_IMU))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer F.Cu) (tedit 5F68FEEE) (tstamp 61B1403D)
+ (at 107.315 95.885 270)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /61B049A1)
+ (attr smd)
+ (fp_text reference R15 (at 3.302 0 90) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value 33R (at 2.921 -0.0508 90) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start -1 0.625) (end -1 -0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start -1 -0.625) (end 1 -0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start 1 -0.625) (end 1 0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end -1 0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer F.SilkS) (width 0.12))
+ (fp_line (start -1.68 0.95) (end -1.68 -0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.68 -0.95) (end 1.68 -0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 1.68 -0.95) (end 1.68 0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 1.68 0.95) (end -1.68 0.95) (layer F.CrtYd) (width 0.05))
+ (fp_text user %R (at -1.905 0.127 180) (layer F.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)))
+ )
+ (pad 2 smd roundrect (at 0.9125 0 270) (size 1.025 1.4) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 58 "Net-(R15-Pad2)"))
+ (pad 1 smd roundrect (at -0.9125 0 270) (size 1.025 1.4) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 59 /MISO_PI))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer F.Cu) (tedit 5F68FEEE) (tstamp 61B1404E)
+ (at 127 93.98 180)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /61AEFFDF)
+ (attr smd)
+ (fp_text reference R16 (at -4.064 0) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value 33R (at -2.921 -0.127) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start -1 0.625) (end -1 -0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start -1 -0.625) (end 1 -0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start 1 -0.625) (end 1 0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end -1 0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer F.SilkS) (width 0.12))
+ (fp_line (start -1.68 0.95) (end -1.68 -0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.68 -0.95) (end 1.68 -0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 1.68 -0.95) (end 1.68 0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 1.68 0.95) (end -1.68 0.95) (layer F.CrtYd) (width 0.05))
+ (fp_text user %R (at 2.286 0) (layer F.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)))
+ )
+ (pad 2 smd roundrect (at 0.9125 0 180) (size 1.025 1.4) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 87 /DIN_IMU))
+ (pad 1 smd roundrect (at -0.9125 0 180) (size 1.025 1.4) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 60 "Net-(R16-Pad1)"))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer F.Cu) (tedit 5F68FEEE) (tstamp 61B1405F)
+ (at 127 88.9 180)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /61AF0323)
+ (attr smd)
+ (fp_text reference R17 (at -3.81 0) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value 33R (at -2.921 -0.127) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start 1.68 0.95) (end -1.68 0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 1.68 -0.95) (end 1.68 0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.68 -0.95) (end 1.68 -0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.68 0.95) (end -1.68 -0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer F.SilkS) (width 0.12))
+ (fp_line (start 1 0.625) (end -1 0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start 1 -0.625) (end 1 0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start -1 -0.625) (end 1 -0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end -1 -0.625) (layer F.Fab) (width 0.1))
+ (fp_text user %R (at 2.286 0) (layer F.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)))
+ )
+ (pad 1 smd roundrect (at -0.9125 0 180) (size 1.025 1.4) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 61 "Net-(R17-Pad1)"))
+ (pad 2 smd roundrect (at 0.9125 0 180) (size 1.025 1.4) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 88 /DOUT_IMU))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer F.Cu) (tedit 5F68FEEE) (tstamp 61B14070)
+ (at 117.475 87.63 270)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /61B05C75)
+ (attr smd)
+ (fp_text reference R18 (at 3.302 -0.127 90) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value 33R (at 3.048 0 90) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start -1 0.625) (end -1 -0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start -1 -0.625) (end 1 -0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start 1 -0.625) (end 1 0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end -1 0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer F.SilkS) (width 0.12))
+ (fp_line (start -1.68 0.95) (end -1.68 -0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.68 -0.95) (end 1.68 -0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 1.68 -0.95) (end 1.68 0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 1.68 0.95) (end -1.68 0.95) (layer F.CrtYd) (width 0.05))
+ (fp_text user %R (at -1.778 0 180) (layer F.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)))
+ )
+ (pad 2 smd roundrect (at 0.9125 0 270) (size 1.025 1.4) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 62 /CS_PIn))
+ (pad 1 smd roundrect (at -0.9125 0 270) (size 1.025 1.4) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 63 "Net-(R18-Pad1)"))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer B.Cu) (tedit 5F68FEEE) (tstamp 61B14081)
+ (at 127 78.74)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /61CC79D1)
+ (attr smd)
+ (fp_text reference R19 (at 3.175 0) (layer B.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_text value 121R (at 0 -1.65) (layer B.Fab)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_line (start -1 -0.625) (end -1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end 1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end 1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 -0.625) (end -1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -1.68 -0.95) (end -1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 0.95) (end 1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 0.95) (end 1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 -0.95) (end -1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_text user %R (at 0 1.143) (layer B.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)) (justify mirror))
+ )
+ (pad 2 smd roundrect (at 0.9125 0) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 33 /CS_L))
+ (pad 1 smd roundrect (at -0.9125 0) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 28 /CS_H))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer F.Cu) (tedit 5F68FEEE) (tstamp 61B14092)
+ (at 127 91.44 180)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /61AF0B45)
+ (attr smd)
+ (fp_text reference R20 (at -3.937 -0.381) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value 33R (at -2.921 -0.0762) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start -1 0.625) (end -1 -0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start -1 -0.625) (end 1 -0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start 1 -0.625) (end 1 0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end -1 0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer F.SilkS) (width 0.12))
+ (fp_line (start -1.68 0.95) (end -1.68 -0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.68 -0.95) (end 1.68 -0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 1.68 -0.95) (end 1.68 0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 1.68 0.95) (end -1.68 0.95) (layer F.CrtYd) (width 0.05))
+ (fp_text user %R (at 2.286 0) (layer F.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)))
+ )
+ (pad 2 smd roundrect (at 0.9125 0 180) (size 1.025 1.4) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 89 /SCLK_IMU))
+ (pad 1 smd roundrect (at -0.9125 0 180) (size 1.025 1.4) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 64 "Net-(R20-Pad1)"))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer F.Cu) (tedit 5F68FEEE) (tstamp 61B140A3)
+ (at 127 86.36 180)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /61AF1043)
+ (attr smd)
+ (fp_text reference R21 (at -3.81 0) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value 33R (at -2.921 0) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start 1.68 0.95) (end -1.68 0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 1.68 -0.95) (end 1.68 0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.68 -0.95) (end 1.68 -0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.68 0.95) (end -1.68 -0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer F.SilkS) (width 0.12))
+ (fp_line (start 1 0.625) (end -1 0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start 1 -0.625) (end 1 0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start -1 -0.625) (end 1 -0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end -1 -0.625) (layer F.Fab) (width 0.1))
+ (fp_text user %R (at 2.286 0) (layer F.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)))
+ )
+ (pad 1 smd roundrect (at -0.9125 0 180) (size 1.025 1.4) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 65 "Net-(R21-Pad1)"))
+ (pad 2 smd roundrect (at 0.9125 0 180) (size 1.025 1.4) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 90 /CS_IMU))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer B.Cu) (tedit 5F68FEEE) (tstamp 61B140B4)
+ (at 153.67 88.9 180)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /6362B03B)
+ (attr smd)
+ (fp_text reference R22 (at -3.175 0) (layer B.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_text value 10.0k (at -3.556 0.0254) (layer B.Fab)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_line (start -1 -0.625) (end -1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end 1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end 1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 -0.625) (end -1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -1.68 -0.95) (end -1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 0.95) (end 1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 0.95) (end 1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 -0.95) (end -1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_text user %R (at 1.778 0 90) (layer B.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)) (justify mirror))
+ )
+ (pad 2 smd roundrect (at 0.9125 0 180) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 4 +5VD))
+ (pad 1 smd roundrect (at -0.9125 0 180) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 34 /EN1A))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer B.Cu) (tedit 5F68FEEE) (tstamp 61B140C5)
+ (at 153.67 83.82 180)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /6362D101)
+ (attr smd)
+ (fp_text reference R23 (at -3.048 0) (layer B.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_text value 10.0k (at -3.556 -0.127) (layer B.Fab)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_line (start -1 -0.625) (end -1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end 1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end 1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 -0.625) (end -1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -1.68 -0.95) (end -1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 0.95) (end 1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 0.95) (end 1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 -0.95) (end -1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_text user %R (at 1.778 0 90) (layer B.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)) (justify mirror))
+ )
+ (pad 2 smd roundrect (at 0.9125 0 180) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 4 +5VD))
+ (pad 1 smd roundrect (at -0.9125 0 180) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 35 /EN1B))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer B.Cu) (tedit 5F68FEEE) (tstamp 61B140D6)
+ (at 153.67 78.74 180)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /6362D46B)
+ (attr smd)
+ (fp_text reference R24 (at -3.175 0) (layer B.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_text value 10.0k (at -3.556 0) (layer B.Fab)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_line (start 1.68 -0.95) (end -1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 0.95) (end 1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 0.95) (end 1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 -0.95) (end -1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start 1 -0.625) (end -1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end 1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end 1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 -0.625) (end -1 0.625) (layer B.Fab) (width 0.1))
+ (fp_text user %R (at 1.778 0 90) (layer B.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)) (justify mirror))
+ )
+ (pad 1 smd roundrect (at -0.9125 0 180) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 37 /EN2A))
+ (pad 2 smd roundrect (at 0.9125 0 180) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 4 +5VD))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer B.Cu) (tedit 5F68FEEE) (tstamp 61B140E7)
+ (at 153.67 73.66 180)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /6362D749)
+ (attr smd)
+ (fp_text reference R25 (at -3.175 0) (layer B.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_text value 10.0k (at -3.683 0) (layer B.Fab)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_line (start -1 -0.625) (end -1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end 1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end 1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 -0.625) (end -1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -1.68 -0.95) (end -1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 0.95) (end 1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 0.95) (end 1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 -0.95) (end -1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_text user %R (at 1.778 0 90) (layer B.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)) (justify mirror))
+ )
+ (pad 2 smd roundrect (at 0.9125 0 180) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 4 +5VD))
+ (pad 1 smd roundrect (at -0.9125 0 180) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 36 /EN2B))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer F.Cu) (tedit 5F68FEEE) (tstamp 61B140F8)
+ (at 127 106.68 180)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /61E2B653)
+ (attr smd)
+ (fp_text reference R26 (at -4.064 0) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value 4.99k (at -3.556 -0.127) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start -1 0.625) (end -1 -0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start -1 -0.625) (end 1 -0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start 1 -0.625) (end 1 0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end -1 0.625) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer F.SilkS) (width 0.12))
+ (fp_line (start -1.68 0.95) (end -1.68 -0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.68 -0.95) (end 1.68 -0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 1.68 -0.95) (end 1.68 0.95) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 1.68 0.95) (end -1.68 0.95) (layer F.CrtYd) (width 0.05))
+ (fp_text user %R (at 1.905 0 90) (layer F.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)))
+ )
+ (pad 2 smd roundrect (at 0.9125 0 180) (size 1.025 1.4) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 2 +3V3))
+ (pad 1 smd roundrect (at -0.9125 0 180) (size 1.025 1.4) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 66 "Net-(R26-Pad1)"))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer B.Cu) (tedit 5F68FEEE) (tstamp 61B1411A)
+ (at 153.67 91.44 180)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /6265903A)
+ (attr smd)
+ (fp_text reference R28 (at -3.175 0.127) (layer B.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_text value 1.00K (at -3.683 0) (layer B.Fab)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_line (start -1 -0.625) (end -1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end 1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end 1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 -0.625) (end -1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -1.68 -0.95) (end -1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 0.95) (end 1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 0.95) (end 1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 -0.95) (end -1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_text user %R (at 1.778 0.127 90) (layer B.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)) (justify mirror))
+ )
+ (pad 2 smd roundrect (at 0.9125 0 180) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 6 "Net-(C7-Pad2)"))
+ (pad 1 smd roundrect (at -0.9125 0 180) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 34 /EN1A))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer B.Cu) (tedit 5F68FEEE) (tstamp 61B1412B)
+ (at 153.67 86.36 180)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /6265A3B8)
+ (attr smd)
+ (fp_text reference R29 (at -3.048 0) (layer B.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_text value 1.00K (at -3.683 -0.1016) (layer B.Fab)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_line (start 1.68 -0.95) (end -1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 0.95) (end 1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 0.95) (end 1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 -0.95) (end -1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start 1 -0.625) (end -1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end 1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end 1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 -0.625) (end -1 0.625) (layer B.Fab) (width 0.1))
+ (fp_text user %R (at 1.778 0 90) (layer B.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)) (justify mirror))
+ )
+ (pad 1 smd roundrect (at -0.9125 0 180) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 35 /EN1B))
+ (pad 2 smd roundrect (at 0.9125 0 180) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 7 "Net-(C8-Pad2)"))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer B.Cu) (tedit 5F68FEEE) (tstamp 61B1416F)
+ (at 153.67 81.28 180)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /6265B3E5)
+ (attr smd)
+ (fp_text reference R33 (at -3.175 0) (layer B.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_text value 1.00K (at -3.556 -0.0508) (layer B.Fab)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_line (start 1.68 -0.95) (end -1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 0.95) (end 1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 0.95) (end 1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 -0.95) (end -1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start 1 -0.625) (end -1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end 1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end 1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 -0.625) (end -1 0.625) (layer B.Fab) (width 0.1))
+ (fp_text user %R (at 1.778 0 90) (layer B.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)) (justify mirror))
+ )
+ (pad 1 smd roundrect (at -0.9125 0 180) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 37 /EN2A))
+ (pad 2 smd roundrect (at 0.9125 0 180) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 8 "Net-(C9-Pad2)"))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer B.Cu) (tedit 5F68FEEE) (tstamp 61B14180)
+ (at 153.67 76.2 180)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /6265AA12)
+ (attr smd)
+ (fp_text reference R34 (at -3.175 0) (layer B.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_text value 1.00K (at -3.683 -0.127) (layer B.Fab)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_line (start -1 -0.625) (end -1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end 1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end 1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 -0.625) (end -1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -1.68 -0.95) (end -1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 0.95) (end 1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 0.95) (end 1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 -0.95) (end -1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_text user %R (at 1.778 0 90) (layer B.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)) (justify mirror))
+ )
+ (pad 2 smd roundrect (at 0.9125 0 180) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 9 "Net-(C10-Pad2)"))
+ (pad 1 smd roundrect (at -0.9125 0 180) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 36 /EN2B))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer B.Cu) (tedit 5F68FEEE) (tstamp 61B141B3)
+ (at 153.67 100.33 180)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /624A104E)
+ (attr smd)
+ (fp_text reference R37 (at -0.127 -1.778) (layer B.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_text value 100R (at 0 -1.65) (layer B.Fab)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_line (start 1.68 -0.95) (end -1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 0.95) (end 1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 0.95) (end 1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 -0.95) (end -1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start 1 -0.625) (end -1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end 1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end 1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 -0.625) (end -1 0.625) (layer B.Fab) (width 0.1))
+ (fp_text user %R (at 0 1.143) (layer B.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)) (justify mirror))
+ )
+ (pad 1 smd roundrect (at -0.9125 0 180) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 38 /EN1A-RIO))
+ (pad 2 smd roundrect (at 0.9125 0 180) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 73 "Net-(R37-Pad2)"))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer B.Cu) (tedit 5F68FEEE) (tstamp 61B141C4)
+ (at 153.67 95.25 180)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /624A0A20)
+ (attr smd)
+ (fp_text reference R38 (at 0.127 -1.905) (layer B.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_text value 100R (at 0 -1.65) (layer B.Fab)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_line (start -1 -0.625) (end -1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end 1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end 1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 -0.625) (end -1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -1.68 -0.95) (end -1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 0.95) (end 1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 0.95) (end 1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 -0.95) (end -1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_text user %R (at 0.127 1.143) (layer B.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)) (justify mirror))
+ )
+ (pad 2 smd roundrect (at 0.9125 0 180) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 74 "Net-(R38-Pad2)"))
+ (pad 1 smd roundrect (at -0.9125 0 180) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 39 /EN1B-RIO))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer B.Cu) (tedit 5F68FEEE) (tstamp 61B141D5)
+ (at 153.67 110.49 180)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /624A0421)
+ (attr smd)
+ (fp_text reference R39 (at 0 -1.778) (layer B.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_text value 100R (at 0 -1.65) (layer B.Fab)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_line (start 1.68 -0.95) (end -1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 0.95) (end 1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 0.95) (end 1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 -0.95) (end -1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start 1 -0.625) (end -1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end 1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end 1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 -0.625) (end -1 0.625) (layer B.Fab) (width 0.1))
+ (fp_text user %R (at 0 1.143) (layer B.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)) (justify mirror))
+ )
+ (pad 1 smd roundrect (at -0.9125 0 180) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 40 /EN2A-RIO))
+ (pad 2 smd roundrect (at 0.9125 0 180) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 75 "Net-(R39-Pad2)"))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer B.Cu) (tedit 5F68FEEE) (tstamp 61B141E6)
+ (at 153.67 105.41 180)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /6249F735)
+ (attr smd)
+ (fp_text reference R40 (at 0 -1.778) (layer B.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_text value 100R (at 0 -1.65) (layer B.Fab)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_line (start -1 -0.625) (end -1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end 1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end 1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 -0.625) (end -1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -1.68 -0.95) (end -1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 0.95) (end 1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 0.95) (end 1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 -0.95) (end -1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_text user %R (at 0 1.143) (layer B.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)) (justify mirror))
+ )
+ (pad 2 smd roundrect (at 0.9125 0 180) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 76 "Net-(R40-Pad2)"))
+ (pad 1 smd roundrect (at -0.9125 0 180) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 41 /EN2B-RIO))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer B.Cu) (tedit 5F68FEEE) (tstamp 61B141F7)
+ (at 153.67 120.65 180)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /6249D886)
+ (attr smd)
+ (fp_text reference R41 (at 0 -1.651) (layer B.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_text value 100R (at 0 -1.65) (layer B.Fab)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_line (start -1 -0.625) (end -1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end 1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end 1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 -0.625) (end -1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -1.68 -0.95) (end -1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 0.95) (end 1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 0.95) (end 1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 -0.95) (end -1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_text user %R (at 0 1.143) (layer B.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)) (justify mirror))
+ )
+ (pad 2 smd roundrect (at 0.9125 0 180) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 77 "Net-(R41-Pad2)"))
+ (pad 1 smd roundrect (at -0.9125 0 180) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 42 /RATE-PWM-RIO))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer B.Cu) (tedit 5F68FEEE) (tstamp 61B14208)
+ (at 147.32 129.54 90)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /629C9A46)
+ (attr smd)
+ (fp_text reference R42 (at 3.048 0 270) (layer B.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_text value 1.00K (at 3.556 0 270) (layer B.Fab)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_line (start -1 -0.625) (end -1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end 1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end 1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 -0.625) (end -1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -1.68 -0.95) (end -1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 0.95) (end 1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 0.95) (end 1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 -0.95) (end -1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_text user %R (at -1.905 0) (layer B.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)) (justify mirror))
+ )
+ (pad 2 smd roundrect (at 0.9125 0 90) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 78 "Net-(R42-Pad2)"))
+ (pad 1 smd roundrect (at -0.9125 0 90) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 16 "Net-(D15-Pad2)"))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer B.Cu) (tedit 5F68FEEE) (tstamp 61B14219)
+ (at 142.24 129.54 90)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /629C9A40)
+ (attr smd)
+ (fp_text reference R43 (at 3.175 0 270) (layer B.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_text value 1.00K (at 3.556 0 270) (layer B.Fab)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_line (start 1.68 -0.95) (end -1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 0.95) (end 1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 0.95) (end 1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 -0.95) (end -1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start 1 -0.625) (end -1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end 1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end 1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 -0.625) (end -1 0.625) (layer B.Fab) (width 0.1))
+ (fp_text user %R (at -1.905 0) (layer B.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)) (justify mirror))
+ )
+ (pad 1 smd roundrect (at -0.9125 0 90) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 17 "Net-(D16-Pad2)"))
+ (pad 2 smd roundrect (at 0.9125 0 90) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 79 "Net-(R43-Pad2)"))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer B.Cu) (tedit 5F68FEEE) (tstamp 61B1422A)
+ (at 137.16 129.54 90)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /629C9A3A)
+ (attr smd)
+ (fp_text reference R44 (at 3.048 0 90) (layer B.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_text value 1.00K (at 3.556 0.0762 90) (layer B.Fab)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_line (start 1.68 -0.95) (end -1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 0.95) (end 1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 0.95) (end 1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 -0.95) (end -1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start 1 -0.625) (end -1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end 1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end 1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 -0.625) (end -1 0.625) (layer B.Fab) (width 0.1))
+ (fp_text user %R (at -1.905 0 180) (layer B.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)) (justify mirror))
+ )
+ (pad 1 smd roundrect (at -0.9125 0 90) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 18 "Net-(D17-Pad2)"))
+ (pad 2 smd roundrect (at 0.9125 0 90) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 76 "Net-(R40-Pad2)"))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer B.Cu) (tedit 5F68FEEE) (tstamp 61B1423B)
+ (at 139.7 129.54 90)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /629C9A26)
+ (attr smd)
+ (fp_text reference R45 (at 3.048 0 270) (layer B.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_text value 1.00K (at 3.556 0.0508 270) (layer B.Fab)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_line (start 1.68 -0.95) (end -1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 0.95) (end 1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 0.95) (end 1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 -0.95) (end -1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start 1 -0.625) (end -1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end 1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end 1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 -0.625) (end -1 0.625) (layer B.Fab) (width 0.1))
+ (fp_text user %R (at -1.905 0) (layer B.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)) (justify mirror))
+ )
+ (pad 1 smd roundrect (at -0.9125 0 90) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 19 "Net-(D18-Pad2)"))
+ (pad 2 smd roundrect (at 0.9125 0 90) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 75 "Net-(R39-Pad2)"))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer B.Cu) (tedit 5F68FEEE) (tstamp 61B1424C)
+ (at 144.78 129.54 90)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /629C9A20)
+ (attr smd)
+ (fp_text reference R46 (at 3.048 0 270) (layer B.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_text value 1.00K (at 3.556 0 270) (layer B.Fab)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_line (start -1 -0.625) (end -1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end 1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end 1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 -0.625) (end -1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -1.68 -0.95) (end -1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 0.95) (end 1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 0.95) (end 1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 -0.95) (end -1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_text user %R (at -1.905 0) (layer B.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)) (justify mirror))
+ )
+ (pad 2 smd roundrect (at 0.9125 0 90) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 74 "Net-(R38-Pad2)"))
+ (pad 1 smd roundrect (at -0.9125 0 90) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 20 "Net-(D19-Pad2)"))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer B.Cu) (tedit 5F68FEEE) (tstamp 61B1425D)
+ (at 149.86 129.54 90)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /62BD656F)
+ (attr smd)
+ (fp_text reference R47 (at 3.048 0 270) (layer B.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_text value 1.00K (at 3.556 0.0254 270) (layer B.Fab)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_line (start 1.68 -0.95) (end -1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 0.95) (end 1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 0.95) (end 1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 -0.95) (end -1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start 1 -0.625) (end -1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end 1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end 1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 -0.625) (end -1 0.625) (layer B.Fab) (width 0.1))
+ (fp_text user %R (at -1.905 0) (layer B.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)) (justify mirror))
+ )
+ (pad 1 smd roundrect (at -0.9125 0 90) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 21 "Net-(D20-Pad2)"))
+ (pad 2 smd roundrect (at 0.9125 0 90) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 73 "Net-(R37-Pad2)"))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer B.Cu) (tedit 5F68FEEE) (tstamp 61B1426E)
+ (at 153.67 115.57 180)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /6249F08E)
+ (attr smd)
+ (fp_text reference R48 (at -0.127 -1.651) (layer B.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_text value 100R (at 0 -1.65) (layer B.Fab)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_line (start 1.68 -0.95) (end -1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 0.95) (end 1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 0.95) (end 1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 -0.95) (end -1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start 1 -0.625) (end -1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end 1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end 1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 -0.625) (end -1 0.625) (layer B.Fab) (width 0.1))
+ (fp_text user %R (at 0 1.143) (layer B.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)) (justify mirror))
+ )
+ (pad 1 smd roundrect (at -0.9125 0 180) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 43 /HEADING_PWM_RIO))
+ (pad 2 smd roundrect (at 0.9125 0 180) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 80 "Net-(R48-Pad2)"))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer B.Cu) (tedit 5F68FEEE) (tstamp 61B1427F)
+ (at 152.4 129.54 90)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /61B3B739)
+ (attr smd)
+ (fp_text reference R49 (at 3.175 0 270) (layer B.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_text value 1.00K (at 3.556 0.0762 270) (layer B.Fab)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_line (start 1.68 -0.95) (end -1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 0.95) (end 1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 0.95) (end 1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 -0.95) (end -1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start 1 -0.625) (end -1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end 1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end 1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 -0.625) (end -1 0.625) (layer B.Fab) (width 0.1))
+ (fp_text user %R (at -1.905 0) (layer B.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)) (justify mirror))
+ )
+ (pad 1 smd roundrect (at -0.9125 0 90) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 22 "Net-(D24-Pad2)"))
+ (pad 2 smd roundrect (at 0.9125 0 90) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 4 +5VD))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Resistor_SMD:R_0805_2012Metric (layer B.Cu) (tedit 5F68FEEE) (tstamp 61B833F3)
+ (at 99.06 123.19)
+ (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
+ (tags resistor)
+ (path /62540CB0)
+ (attr smd)
+ (fp_text reference R50 (at 3.302 0) (layer B.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_text value 1.00K (at 3.683 0.0254) (layer B.Fab)
+ (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
+ )
+ (fp_line (start 1.68 -0.95) (end -1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start 1.68 0.95) (end 1.68 -0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 0.95) (end 1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -1.68 -0.95) (end -1.68 0.95) (layer B.CrtYd) (width 0.05))
+ (fp_line (start -0.227064 -0.735) (end 0.227064 -0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start -0.227064 0.735) (end 0.227064 0.735) (layer B.SilkS) (width 0.12))
+ (fp_line (start 1 -0.625) (end -1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start 1 0.625) (end 1 -0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 0.625) (end 1 0.625) (layer B.Fab) (width 0.1))
+ (fp_line (start -1 -0.625) (end -1 0.625) (layer B.Fab) (width 0.1))
+ (fp_text user %R (at 0 -1.016) (layer B.Fab)
+ (effects (font (size 0.5 0.5) (thickness 0.08)) (justify mirror))
+ )
+ (pad 1 smd roundrect (at -0.9125 0) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 23 "Net-(D26-Pad2)"))
+ (pad 2 smd roundrect (at 0.9125 0) (size 1.025 1.4) (layers B.Cu B.Paste B.Mask) (roundrect_rratio 0.2439004878048781)
+ (net 3 +5V))
+ (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0805_2012Metric.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Package_SO:SO-8_3.9x4.9mm_P1.27mm (layer F.Cu) (tedit 5D9F72B1) (tstamp 61B142CA)
+ (at 115.705 81.535 90)
+ (descr "SO, 8 Pin (https://www.nxp.com/docs/en/data-sheet/PCF8523.pdf), generated with kicad-footprint-generator ipc_gullwing_generator.py")
+ (tags "SO SO")
+ (path /61BAF55E)
+ (attr smd)
+ (fp_text reference U2 (at 2.922 -3.4 90) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value ADM3490ARZ (at 4.192 -0.008 180) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start 0 2.56) (end 1.95 2.56) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0 2.56) (end -1.95 2.56) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0 -2.56) (end 1.95 -2.56) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0 -2.56) (end -3.45 -2.56) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.975 -2.45) (end 1.95 -2.45) (layer F.Fab) (width 0.1))
+ (fp_line (start 1.95 -2.45) (end 1.95 2.45) (layer F.Fab) (width 0.1))
+ (fp_line (start 1.95 2.45) (end -1.95 2.45) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.95 2.45) (end -1.95 -1.475) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.95 -1.475) (end -0.975 -2.45) (layer F.Fab) (width 0.1))
+ (fp_line (start -3.7 -2.7) (end -3.7 2.7) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -3.7 2.7) (end 3.7 2.7) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 3.7 2.7) (end 3.7 -2.7) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 3.7 -2.7) (end -3.7 -2.7) (layer F.CrtYd) (width 0.05))
+ (fp_text user %R (at 0 0 180) (layer F.Fab)
+ (effects (font (size 0.98 0.98) (thickness 0.15)))
+ )
+ (pad 8 smd roundrect (at 2.575 -1.905 90) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 25 /MOSI_H))
+ (pad 7 smd roundrect (at 2.575 -0.635 90) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 30 /MOSI_L))
+ (pad 6 smd roundrect (at 2.575 0.635 90) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 29 /DR_L))
+ (pad 5 smd roundrect (at 2.575 1.905 90) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 24 /DR_H))
+ (pad 4 smd roundrect (at -2.575 1.905 90) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 1 GND))
+ (pad 3 smd roundrect (at -2.575 0.635 90) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 54 /DR_PI))
+ (pad 2 smd roundrect (at -2.575 -0.635 90) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 45 "Net-(R1-Pad1)"))
+ (pad 1 smd roundrect (at -2.575 -1.905 90) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 2 +3V3))
+ (model ${KISYS3DMOD}/Package_SO.3dshapes/SO-8_3.9x4.9mm_P1.27mm.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ (model ${KIPRJMOD}/R_8_ADI.step
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Package_SO:SO-8_3.9x4.9mm_P1.27mm (layer F.Cu) (tedit 5D9F72B1) (tstamp 61B142E4)
+ (at 121.92 81.51 90)
+ (descr "SO, 8 Pin (https://www.nxp.com/docs/en/data-sheet/PCF8523.pdf), generated with kicad-footprint-generator ipc_gullwing_generator.py")
+ (tags "SO SO")
+ (path /61BB1F11)
+ (attr smd)
+ (fp_text reference U3 (at 3.024 -3.048 90) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value ADM3490ARZ (at 1.119 1.016 180) (layer F.Fab) hide
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start 3.7 -2.7) (end -3.7 -2.7) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 3.7 2.7) (end 3.7 -2.7) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -3.7 2.7) (end 3.7 2.7) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -3.7 -2.7) (end -3.7 2.7) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.95 -1.475) (end -0.975 -2.45) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.95 2.45) (end -1.95 -1.475) (layer F.Fab) (width 0.1))
+ (fp_line (start 1.95 2.45) (end -1.95 2.45) (layer F.Fab) (width 0.1))
+ (fp_line (start 1.95 -2.45) (end 1.95 2.45) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.975 -2.45) (end 1.95 -2.45) (layer F.Fab) (width 0.1))
+ (fp_line (start 0 -2.56) (end -3.45 -2.56) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0 -2.56) (end 1.95 -2.56) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0 2.56) (end -1.95 2.56) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0 2.56) (end 1.95 2.56) (layer F.SilkS) (width 0.12))
+ (fp_text user %R (at 0 0 180) (layer F.Fab)
+ (effects (font (size 0.98 0.98) (thickness 0.15)))
+ )
+ (pad 1 smd roundrect (at -2.575 -1.905 90) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 2 +3V3))
+ (pad 2 smd roundrect (at -2.575 -0.635 90) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 51 "Net-(R8-Pad1)"))
+ (pad 3 smd roundrect (at -2.575 0.635 90) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 59 /MISO_PI))
+ (pad 4 smd roundrect (at -2.575 1.905 90) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 1 GND))
+ (pad 5 smd roundrect (at 2.575 1.905 90) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 26 /MISO_H))
+ (pad 6 smd roundrect (at 2.575 0.635 90) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 31 /MISO_L))
+ (pad 7 smd roundrect (at 2.575 -0.635 90) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 32 /SCK_L))
+ (pad 8 smd roundrect (at 2.575 -1.905 90) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 27 /SCK_H))
+ (model ${KISYS3DMOD}/Package_SO.3dshapes/SO-8_3.9x4.9mm_P1.27mm.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ (model ${KIPRJMOD}/R_8_ADI.step
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Package_SO:SO-8_3.9x4.9mm_P1.27mm (layer F.Cu) (tedit 5D9F72B1) (tstamp 61B143C1)
+ (at 128.27 81.435 90)
+ (descr "SO, 8 Pin (https://www.nxp.com/docs/en/data-sheet/PCF8523.pdf), generated with kicad-footprint-generator ipc_gullwing_generator.py")
+ (tags "SO SO")
+ (path /61BB2B84)
+ (attr smd)
+ (fp_text reference U6 (at 2.949 -3.175 90) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value ADM3490ARZ (at 4.219 -0.127 180) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start 0 2.56) (end 1.95 2.56) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0 2.56) (end -1.95 2.56) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0 -2.56) (end 1.95 -2.56) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0 -2.56) (end -3.45 -2.56) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.975 -2.45) (end 1.95 -2.45) (layer F.Fab) (width 0.1))
+ (fp_line (start 1.95 -2.45) (end 1.95 2.45) (layer F.Fab) (width 0.1))
+ (fp_line (start 1.95 2.45) (end -1.95 2.45) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.95 2.45) (end -1.95 -1.475) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.95 -1.475) (end -0.975 -2.45) (layer F.Fab) (width 0.1))
+ (fp_line (start -3.7 -2.7) (end -3.7 2.7) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -3.7 2.7) (end 3.7 2.7) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 3.7 2.7) (end 3.7 -2.7) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 3.7 -2.7) (end -3.7 -2.7) (layer F.CrtYd) (width 0.05))
+ (fp_text user %R (at 0 0 180) (layer F.Fab)
+ (effects (font (size 0.98 0.98) (thickness 0.15)))
+ )
+ (pad 8 smd roundrect (at 2.575 -1.905 90) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 28 /CS_H))
+ (pad 7 smd roundrect (at 2.575 -0.635 90) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 33 /CS_L))
+ (pad 6 smd roundrect (at 2.575 0.635 90) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25))
+ (pad 5 smd roundrect (at 2.575 1.905 90) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25))
+ (pad 4 smd roundrect (at -2.575 1.905 90) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 1 GND))
+ (pad 3 smd roundrect (at -2.575 0.635 90) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 1 GND))
+ (pad 2 smd roundrect (at -2.575 -0.635 90) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 63 "Net-(R18-Pad1)"))
+ (pad 1 smd roundrect (at -2.575 -1.905 90) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 2 +3V3))
+ (model ${KISYS3DMOD}/Package_SO.3dshapes/SO-8_3.9x4.9mm_P1.27mm.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ (model ${KIPRJMOD}/R_8_ADI.step
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Package_SO:SO-8_3.9x4.9mm_P1.27mm (layer F.Cu) (tedit 5D9F72B1) (tstamp 61B143DB)
+ (at 129.54 111.76 180)
+ (descr "SO, 8 Pin (https://www.nxp.com/docs/en/data-sheet/PCF8523.pdf), generated with kicad-footprint-generator ipc_gullwing_generator.py")
+ (tags "SO SO")
+ (path /61E3ED28)
+ (attr smd)
+ (fp_text reference U7 (at 5.08 0) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value ADUM1280ARZ (at -0.381 3.175) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start 3.7 -2.7) (end -3.7 -2.7) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 3.7 2.7) (end 3.7 -2.7) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -3.7 2.7) (end 3.7 2.7) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -3.7 -2.7) (end -3.7 2.7) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -1.95 -1.475) (end -0.975 -2.45) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.95 2.45) (end -1.95 -1.475) (layer F.Fab) (width 0.1))
+ (fp_line (start 1.95 2.45) (end -1.95 2.45) (layer F.Fab) (width 0.1))
+ (fp_line (start 1.95 -2.45) (end 1.95 2.45) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.975 -2.45) (end 1.95 -2.45) (layer F.Fab) (width 0.1))
+ (fp_line (start 0 -2.56) (end -3.45 -2.56) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0 -2.56) (end 1.95 -2.56) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0 2.56) (end -1.95 2.56) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0 2.56) (end 1.95 2.56) (layer F.SilkS) (width 0.12))
+ (fp_text user %R (at 0 0) (layer F.Fab)
+ (effects (font (size 0.98 0.98) (thickness 0.15)))
+ )
+ (pad 1 smd roundrect (at -2.575 -1.905 180) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 4 +5VD))
+ (pad 2 smd roundrect (at -2.575 -0.635 180) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 83 "Net-(U11-Pad1)"))
+ (pad 3 smd roundrect (at -2.575 0.635 180) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 81 "Net-(U11-Pad3)"))
+ (pad 4 smd roundrect (at -2.575 1.905 180) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 5 GNDD))
+ (pad 5 smd roundrect (at 2.575 1.905 180) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 1 GND))
+ (pad 6 smd roundrect (at 2.575 0.635 180) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 69 /ENC1-B))
+ (pad 7 smd roundrect (at 2.575 -0.635 180) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 67 /ENC1-A))
+ (pad 8 smd roundrect (at 2.575 -1.905 180) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 2 +3V3))
+ (model ${KISYS3DMOD}/Package_SO.3dshapes/SO-8_3.9x4.9mm_P1.27mm.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ (model ${KIPRJMOD}/R_8_ADI.step
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Package_SO:SO-8_3.9x4.9mm_P1.27mm (layer F.Cu) (tedit 5D9F72B1) (tstamp 61B1446F)
+ (at 129.54 124.46)
+ (descr "SO, 8 Pin (https://www.nxp.com/docs/en/data-sheet/PCF8523.pdf), generated with kicad-footprint-generator ipc_gullwing_generator.py")
+ (tags "SO SO")
+ (path /61E4C1B6)
+ (attr smd)
+ (fp_text reference U12 (at -5.842 -0.635) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value ADUM1280ARZ (at 0.762 3.302) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start 0 2.56) (end 1.95 2.56) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0 2.56) (end -1.95 2.56) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0 -2.56) (end 1.95 -2.56) (layer F.SilkS) (width 0.12))
+ (fp_line (start 0 -2.56) (end -3.45 -2.56) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.975 -2.45) (end 1.95 -2.45) (layer F.Fab) (width 0.1))
+ (fp_line (start 1.95 -2.45) (end 1.95 2.45) (layer F.Fab) (width 0.1))
+ (fp_line (start 1.95 2.45) (end -1.95 2.45) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.95 2.45) (end -1.95 -1.475) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.95 -1.475) (end -0.975 -2.45) (layer F.Fab) (width 0.1))
+ (fp_line (start -3.7 -2.7) (end -3.7 2.7) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -3.7 2.7) (end 3.7 2.7) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 3.7 2.7) (end 3.7 -2.7) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 3.7 -2.7) (end -3.7 -2.7) (layer F.CrtYd) (width 0.05))
+ (fp_text user %R (at 0 0) (layer F.Fab)
+ (effects (font (size 0.98 0.98) (thickness 0.15)))
+ )
+ (pad 8 smd roundrect (at 2.575 -1.905) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 4 +5VD))
+ (pad 7 smd roundrect (at 2.575 -0.635) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 77 "Net-(R41-Pad2)"))
+ (pad 6 smd roundrect (at 2.575 0.635) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 80 "Net-(R48-Pad2)"))
+ (pad 5 smd roundrect (at 2.575 1.905) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 5 GNDD))
+ (pad 4 smd roundrect (at -2.575 1.905) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 1 GND))
+ (pad 3 smd roundrect (at -2.575 0.635) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 70 /HEADING_PWM))
+ (pad 2 smd roundrect (at -2.575 -0.635) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 68 /RATE_PWM))
+ (pad 1 smd roundrect (at -2.575 -1.905) (size 1.75 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+ (net 2 +3V3))
+ (model ${KISYS3DMOD}/Package_SO.3dshapes/SO-8_3.9x4.9mm_P1.27mm.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ (model ${KIPRJMOD}/R_8_ADI.step
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Package_TO_SOT_SMD:SOT-223 (layer F.Cu) (tedit 61BE972B) (tstamp 61B14485)
+ (at 100.33 88.9)
+ (descr "module CMS SOT223 4 pins")
+ (tags "CMS SOT")
+ (path /62CBD40B)
+ (attr smd)
+ (fp_text reference U13 (at 0.127 4.445) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value AZ1117IH-3.3TRG1 (at 0 4.5) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start 1.85 -3.35) (end 1.85 3.35) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.85 3.35) (end 1.85 3.35) (layer F.Fab) (width 0.1))
+ (fp_line (start -4.1 -3.41) (end 1.91 -3.41) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.8 -3.35) (end 1.85 -3.35) (layer F.Fab) (width 0.1))
+ (fp_line (start -1.85 3.41) (end 1.91 3.41) (layer F.SilkS) (width 0.12))
+ (fp_line (start -1.85 -2.3) (end -1.85 3.35) (layer F.Fab) (width 0.1))
+ (fp_line (start -4.4 -3.6) (end -4.4 3.6) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -4.4 3.6) (end 4.4 3.6) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 4.4 3.6) (end 4.4 -3.6) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 4.4 -3.6) (end -4.4 -3.6) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 1.91 -3.41) (end 1.91 -2.15) (layer F.SilkS) (width 0.12))
+ (fp_line (start 1.91 3.41) (end 1.91 2.15) (layer F.SilkS) (width 0.12))
+ (fp_line (start -1.85 -2.3) (end -0.8 -3.35) (layer F.Fab) (width 0.1))
+ (fp_text user %R (at 0 0 180) (layer F.Fab)
+ (effects (font (size 0.8 0.8) (thickness 0.12)))
+ )
+ (pad 4 smd rect (at 3.15 0) (size 2 3.8) (layers F.Cu F.Paste F.Mask)
+ (net 2 +3V3))
+ (pad 2 smd rect (at -3.15 0) (size 2 1.5) (layers F.Cu F.Paste F.Mask)
+ (net 2 +3V3))
+ (pad 3 smd rect (at -3.15 2.3) (size 2 1.5) (layers F.Cu F.Paste F.Mask)
+ (net 3 +5V))
+ (pad 1 smd rect (at -3.15 -2.3) (size 2 1.5) (layers F.Cu F.Paste F.Mask)
+ (net 1 GND))
+ (model ${KISYS3DMOD}/Package_TO_SOT_SMD.3dshapes/SOT-223.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Diode_SMD:D_SMA (layer F.Cu) (tedit 586432E5) (tstamp 61B064B8)
+ (at 152.4 90.17 180)
+ (descr "Diode SMA (DO-214AC)")
+ (tags "Diode SMA (DO-214AC)")
+ (path /61C6E1AD)
+ (attr smd)
+ (fp_text reference D7 (at 0 -2.5) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value SMA6J5.0A (at 0 2.6) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start -3.4 -1.65) (end 2 -1.65) (layer F.SilkS) (width 0.12))
+ (fp_line (start -3.4 1.65) (end 2 1.65) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.64944 0.00102) (end 0.50118 -0.79908) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.64944 0.00102) (end 0.50118 0.75032) (layer F.Fab) (width 0.1))
+ (fp_line (start 0.50118 0.75032) (end 0.50118 -0.79908) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.64944 -0.79908) (end -0.64944 0.80112) (layer F.Fab) (width 0.1))
+ (fp_line (start 0.50118 0.00102) (end 1.4994 0.00102) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.64944 0.00102) (end -1.55114 0.00102) (layer F.Fab) (width 0.1))
+ (fp_line (start -3.5 1.75) (end -3.5 -1.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 3.5 1.75) (end -3.5 1.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 3.5 -1.75) (end 3.5 1.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -3.5 -1.75) (end 3.5 -1.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 2.3 -1.5) (end -2.3 -1.5) (layer F.Fab) (width 0.1))
+ (fp_line (start 2.3 -1.5) (end 2.3 1.5) (layer F.Fab) (width 0.1))
+ (fp_line (start -2.3 1.5) (end -2.3 -1.5) (layer F.Fab) (width 0.1))
+ (fp_line (start 2.3 1.5) (end -2.3 1.5) (layer F.Fab) (width 0.1))
+ (fp_line (start -3.4 -1.65) (end -3.4 1.65) (layer F.SilkS) (width 0.12))
+ (fp_text user %R (at -4.445 0) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (pad 2 smd rect (at 2 0 180) (size 2.5 1.8) (layers F.Cu F.Paste F.Mask)
+ (net 5 GNDD))
+ (pad 1 smd rect (at -2 0 180) (size 2.5 1.8) (layers F.Cu F.Paste F.Mask)
+ (net 34 /EN1A))
+ (model ${KISYS3DMOD}/Diode_SMD.3dshapes/D_SMA.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Diode_SMD:D_SMA (layer F.Cu) (tedit 586432E5) (tstamp 61B064D0)
+ (at 152.4 85.09 180)
+ (descr "Diode SMA (DO-214AC)")
+ (tags "Diode SMA (DO-214AC)")
+ (path /61C6EB3A)
+ (attr smd)
+ (fp_text reference D8 (at 0 -2.5) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value SMA6J5.0A (at 0 2.6) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start -3.4 -1.65) (end -3.4 1.65) (layer F.SilkS) (width 0.12))
+ (fp_line (start 2.3 1.5) (end -2.3 1.5) (layer F.Fab) (width 0.1))
+ (fp_line (start -2.3 1.5) (end -2.3 -1.5) (layer F.Fab) (width 0.1))
+ (fp_line (start 2.3 -1.5) (end 2.3 1.5) (layer F.Fab) (width 0.1))
+ (fp_line (start 2.3 -1.5) (end -2.3 -1.5) (layer F.Fab) (width 0.1))
+ (fp_line (start -3.5 -1.75) (end 3.5 -1.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 3.5 -1.75) (end 3.5 1.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 3.5 1.75) (end -3.5 1.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -3.5 1.75) (end -3.5 -1.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -0.64944 0.00102) (end -1.55114 0.00102) (layer F.Fab) (width 0.1))
+ (fp_line (start 0.50118 0.00102) (end 1.4994 0.00102) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.64944 -0.79908) (end -0.64944 0.80112) (layer F.Fab) (width 0.1))
+ (fp_line (start 0.50118 0.75032) (end 0.50118 -0.79908) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.64944 0.00102) (end 0.50118 0.75032) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.64944 0.00102) (end 0.50118 -0.79908) (layer F.Fab) (width 0.1))
+ (fp_line (start -3.4 1.65) (end 2 1.65) (layer F.SilkS) (width 0.12))
+ (fp_line (start -3.4 -1.65) (end 2 -1.65) (layer F.SilkS) (width 0.12))
+ (fp_text user %R (at -4.445 -0.1016) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (pad 1 smd rect (at -2 0 180) (size 2.5 1.8) (layers F.Cu F.Paste F.Mask)
+ (net 35 /EN1B))
+ (pad 2 smd rect (at 2 0 180) (size 2.5 1.8) (layers F.Cu F.Paste F.Mask)
+ (net 5 GNDD))
+ (model ${KISYS3DMOD}/Diode_SMD.3dshapes/D_SMA.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Diode_SMD:D_SMA (layer F.Cu) (tedit 586432E5) (tstamp 61B064E8)
+ (at 152.4 80.01 180)
+ (descr "Diode SMA (DO-214AC)")
+ (tags "Diode SMA (DO-214AC)")
+ (path /61C6F362)
+ (attr smd)
+ (fp_text reference D9 (at 0 -2.5) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value SMA6J5.0A (at 0 2.6) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start -3.4 -1.65) (end 2 -1.65) (layer F.SilkS) (width 0.12))
+ (fp_line (start -3.4 1.65) (end 2 1.65) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.64944 0.00102) (end 0.50118 -0.79908) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.64944 0.00102) (end 0.50118 0.75032) (layer F.Fab) (width 0.1))
+ (fp_line (start 0.50118 0.75032) (end 0.50118 -0.79908) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.64944 -0.79908) (end -0.64944 0.80112) (layer F.Fab) (width 0.1))
+ (fp_line (start 0.50118 0.00102) (end 1.4994 0.00102) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.64944 0.00102) (end -1.55114 0.00102) (layer F.Fab) (width 0.1))
+ (fp_line (start -3.5 1.75) (end -3.5 -1.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 3.5 1.75) (end -3.5 1.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 3.5 -1.75) (end 3.5 1.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -3.5 -1.75) (end 3.5 -1.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 2.3 -1.5) (end -2.3 -1.5) (layer F.Fab) (width 0.1))
+ (fp_line (start 2.3 -1.5) (end 2.3 1.5) (layer F.Fab) (width 0.1))
+ (fp_line (start -2.3 1.5) (end -2.3 -1.5) (layer F.Fab) (width 0.1))
+ (fp_line (start 2.3 1.5) (end -2.3 1.5) (layer F.Fab) (width 0.1))
+ (fp_line (start -3.4 -1.65) (end -3.4 1.65) (layer F.SilkS) (width 0.12))
+ (fp_text user %R (at -4.2926 -0.1016) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (pad 2 smd rect (at 2 0 180) (size 2.5 1.8) (layers F.Cu F.Paste F.Mask)
+ (net 5 GNDD))
+ (pad 1 smd rect (at -2 0 180) (size 2.5 1.8) (layers F.Cu F.Paste F.Mask)
+ (net 37 /EN2A))
+ (model ${KISYS3DMOD}/Diode_SMD.3dshapes/D_SMA.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Diode_SMD:D_SMA (layer F.Cu) (tedit 586432E5) (tstamp 61B06500)
+ (at 152.4 74.93 180)
+ (descr "Diode SMA (DO-214AC)")
+ (tags "Diode SMA (DO-214AC)")
+ (path /61C6FA49)
+ (attr smd)
+ (fp_text reference D10 (at 0 -2.5) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value SMA6J5.0A (at 0 2.6) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start -3.4 -1.65) (end -3.4 1.65) (layer F.SilkS) (width 0.12))
+ (fp_line (start 2.3 1.5) (end -2.3 1.5) (layer F.Fab) (width 0.1))
+ (fp_line (start -2.3 1.5) (end -2.3 -1.5) (layer F.Fab) (width 0.1))
+ (fp_line (start 2.3 -1.5) (end 2.3 1.5) (layer F.Fab) (width 0.1))
+ (fp_line (start 2.3 -1.5) (end -2.3 -1.5) (layer F.Fab) (width 0.1))
+ (fp_line (start -3.5 -1.75) (end 3.5 -1.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 3.5 -1.75) (end 3.5 1.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 3.5 1.75) (end -3.5 1.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -3.5 1.75) (end -3.5 -1.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -0.64944 0.00102) (end -1.55114 0.00102) (layer F.Fab) (width 0.1))
+ (fp_line (start 0.50118 0.00102) (end 1.4994 0.00102) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.64944 -0.79908) (end -0.64944 0.80112) (layer F.Fab) (width 0.1))
+ (fp_line (start 0.50118 0.75032) (end 0.50118 -0.79908) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.64944 0.00102) (end 0.50118 0.75032) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.64944 0.00102) (end 0.50118 -0.79908) (layer F.Fab) (width 0.1))
+ (fp_line (start -3.4 1.65) (end 2 1.65) (layer F.SilkS) (width 0.12))
+ (fp_line (start -3.4 -1.65) (end 2 -1.65) (layer F.SilkS) (width 0.12))
+ (fp_text user %R (at -4.8006 0.0762) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (pad 1 smd rect (at -2 0 180) (size 2.5 1.8) (layers F.Cu F.Paste F.Mask)
+ (net 36 /EN2B))
+ (pad 2 smd rect (at 2 0 180) (size 2.5 1.8) (layers F.Cu F.Paste F.Mask)
+ (net 5 GNDD))
+ (model ${KISYS3DMOD}/Diode_SMD.3dshapes/D_SMA.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Diode_SMD:D_SMA (layer F.Cu) (tedit 586432E5) (tstamp 61B06518)
+ (at 152.4 100.33 180)
+ (descr "Diode SMA (DO-214AC)")
+ (tags "Diode SMA (DO-214AC)")
+ (path /61C672BF)
+ (attr smd)
+ (fp_text reference D11 (at 0 -2.5) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value SMA6J5.0A (at 0 2.6) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start -3.4 -1.65) (end 2 -1.65) (layer F.SilkS) (width 0.12))
+ (fp_line (start -3.4 1.65) (end 2 1.65) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.64944 0.00102) (end 0.50118 -0.79908) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.64944 0.00102) (end 0.50118 0.75032) (layer F.Fab) (width 0.1))
+ (fp_line (start 0.50118 0.75032) (end 0.50118 -0.79908) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.64944 -0.79908) (end -0.64944 0.80112) (layer F.Fab) (width 0.1))
+ (fp_line (start 0.50118 0.00102) (end 1.4994 0.00102) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.64944 0.00102) (end -1.55114 0.00102) (layer F.Fab) (width 0.1))
+ (fp_line (start -3.5 1.75) (end -3.5 -1.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 3.5 1.75) (end -3.5 1.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 3.5 -1.75) (end 3.5 1.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -3.5 -1.75) (end 3.5 -1.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 2.3 -1.5) (end -2.3 -1.5) (layer F.Fab) (width 0.1))
+ (fp_line (start 2.3 -1.5) (end 2.3 1.5) (layer F.Fab) (width 0.1))
+ (fp_line (start -2.3 1.5) (end -2.3 -1.5) (layer F.Fab) (width 0.1))
+ (fp_line (start 2.3 1.5) (end -2.3 1.5) (layer F.Fab) (width 0.1))
+ (fp_line (start -3.4 -1.65) (end -3.4 1.65) (layer F.SilkS) (width 0.12))
+ (fp_text user %R (at -4.699 0) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (pad 2 smd rect (at 2 0 180) (size 2.5 1.8) (layers F.Cu F.Paste F.Mask)
+ (net 5 GNDD))
+ (pad 1 smd rect (at -2 0 180) (size 2.5 1.8) (layers F.Cu F.Paste F.Mask)
+ (net 38 /EN1A-RIO))
+ (model ${KISYS3DMOD}/Diode_SMD.3dshapes/D_SMA.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Diode_SMD:D_SMA (layer F.Cu) (tedit 586432E5) (tstamp 61B06530)
+ (at 152.4 95.25 180)
+ (descr "Diode SMA (DO-214AC)")
+ (tags "Diode SMA (DO-214AC)")
+ (path /61C67CC3)
+ (attr smd)
+ (fp_text reference D12 (at 0 -2.5) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value SMA6J5.0A (at 0 2.6) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start -3.4 -1.65) (end -3.4 1.65) (layer F.SilkS) (width 0.12))
+ (fp_line (start 2.3 1.5) (end -2.3 1.5) (layer F.Fab) (width 0.1))
+ (fp_line (start -2.3 1.5) (end -2.3 -1.5) (layer F.Fab) (width 0.1))
+ (fp_line (start 2.3 -1.5) (end 2.3 1.5) (layer F.Fab) (width 0.1))
+ (fp_line (start 2.3 -1.5) (end -2.3 -1.5) (layer F.Fab) (width 0.1))
+ (fp_line (start -3.5 -1.75) (end 3.5 -1.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 3.5 -1.75) (end 3.5 1.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 3.5 1.75) (end -3.5 1.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -3.5 1.75) (end -3.5 -1.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -0.64944 0.00102) (end -1.55114 0.00102) (layer F.Fab) (width 0.1))
+ (fp_line (start 0.50118 0.00102) (end 1.4994 0.00102) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.64944 -0.79908) (end -0.64944 0.80112) (layer F.Fab) (width 0.1))
+ (fp_line (start 0.50118 0.75032) (end 0.50118 -0.79908) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.64944 0.00102) (end 0.50118 0.75032) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.64944 0.00102) (end 0.50118 -0.79908) (layer F.Fab) (width 0.1))
+ (fp_line (start -3.4 1.65) (end 2 1.65) (layer F.SilkS) (width 0.12))
+ (fp_line (start -3.4 -1.65) (end 2 -1.65) (layer F.SilkS) (width 0.12))
+ (fp_text user %R (at -4.826 -0.0762) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (pad 1 smd rect (at -2 0 180) (size 2.5 1.8) (layers F.Cu F.Paste F.Mask)
+ (net 39 /EN1B-RIO))
+ (pad 2 smd rect (at 2 0 180) (size 2.5 1.8) (layers F.Cu F.Paste F.Mask)
+ (net 5 GNDD))
+ (model ${KISYS3DMOD}/Diode_SMD.3dshapes/D_SMA.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Diode_SMD:D_SMA (layer F.Cu) (tedit 586432E5) (tstamp 61B06548)
+ (at 152.4 110.49 180)
+ (descr "Diode SMA (DO-214AC)")
+ (tags "Diode SMA (DO-214AC)")
+ (path /61C683C2)
+ (attr smd)
+ (fp_text reference D13 (at 0 -2.5) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value SMA6J5.0A (at 0 2.6) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start -3.4 -1.65) (end 2 -1.65) (layer F.SilkS) (width 0.12))
+ (fp_line (start -3.4 1.65) (end 2 1.65) (layer F.SilkS) (width 0.12))
+ (fp_line (start -0.64944 0.00102) (end 0.50118 -0.79908) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.64944 0.00102) (end 0.50118 0.75032) (layer F.Fab) (width 0.1))
+ (fp_line (start 0.50118 0.75032) (end 0.50118 -0.79908) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.64944 -0.79908) (end -0.64944 0.80112) (layer F.Fab) (width 0.1))
+ (fp_line (start 0.50118 0.00102) (end 1.4994 0.00102) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.64944 0.00102) (end -1.55114 0.00102) (layer F.Fab) (width 0.1))
+ (fp_line (start -3.5 1.75) (end -3.5 -1.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 3.5 1.75) (end -3.5 1.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 3.5 -1.75) (end 3.5 1.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -3.5 -1.75) (end 3.5 -1.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 2.3 -1.5) (end -2.3 -1.5) (layer F.Fab) (width 0.1))
+ (fp_line (start 2.3 -1.5) (end 2.3 1.5) (layer F.Fab) (width 0.1))
+ (fp_line (start -2.3 1.5) (end -2.3 -1.5) (layer F.Fab) (width 0.1))
+ (fp_line (start 2.3 1.5) (end -2.3 1.5) (layer F.Fab) (width 0.1))
+ (fp_line (start -3.4 -1.65) (end -3.4 1.65) (layer F.SilkS) (width 0.12))
+ (fp_text user %R (at -4.699 0) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (pad 2 smd rect (at 2 0 180) (size 2.5 1.8) (layers F.Cu F.Paste F.Mask)
+ (net 5 GNDD))
+ (pad 1 smd rect (at -2 0 180) (size 2.5 1.8) (layers F.Cu F.Paste F.Mask)
+ (net 40 /EN2A-RIO))
+ (model ${KISYS3DMOD}/Diode_SMD.3dshapes/D_SMA.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Diode_SMD:D_SMA (layer F.Cu) (tedit 586432E5) (tstamp 61B06560)
+ (at 152.4 105.41 180)
+ (descr "Diode SMA (DO-214AC)")
+ (tags "Diode SMA (DO-214AC)")
+ (path /61C68984)
+ (attr smd)
+ (fp_text reference D14 (at 0 -2.5) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value SMA6J5.0A (at 0 2.6) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start -3.4 -1.65) (end -3.4 1.65) (layer F.SilkS) (width 0.12))
+ (fp_line (start 2.3 1.5) (end -2.3 1.5) (layer F.Fab) (width 0.1))
+ (fp_line (start -2.3 1.5) (end -2.3 -1.5) (layer F.Fab) (width 0.1))
+ (fp_line (start 2.3 -1.5) (end 2.3 1.5) (layer F.Fab) (width 0.1))
+ (fp_line (start 2.3 -1.5) (end -2.3 -1.5) (layer F.Fab) (width 0.1))
+ (fp_line (start -3.5 -1.75) (end 3.5 -1.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 3.5 -1.75) (end 3.5 1.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 3.5 1.75) (end -3.5 1.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -3.5 1.75) (end -3.5 -1.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -0.64944 0.00102) (end -1.55114 0.00102) (layer F.Fab) (width 0.1))
+ (fp_line (start 0.50118 0.00102) (end 1.4994 0.00102) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.64944 -0.79908) (end -0.64944 0.80112) (layer F.Fab) (width 0.1))
+ (fp_line (start 0.50118 0.75032) (end 0.50118 -0.79908) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.64944 0.00102) (end 0.50118 0.75032) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.64944 0.00102) (end 0.50118 -0.79908) (layer F.Fab) (width 0.1))
+ (fp_line (start -3.4 1.65) (end 2 1.65) (layer F.SilkS) (width 0.12))
+ (fp_line (start -3.4 -1.65) (end 2 -1.65) (layer F.SilkS) (width 0.12))
+ (fp_text user %R (at -4.826 -0.0762) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (pad 1 smd rect (at -2 0 180) (size 2.5 1.8) (layers F.Cu F.Paste F.Mask)
+ (net 41 /EN2B-RIO))
+ (pad 2 smd rect (at 2 0 180) (size 2.5 1.8) (layers F.Cu F.Paste F.Mask)
+ (net 5 GNDD))
+ (model ${KISYS3DMOD}/Diode_SMD.3dshapes/D_SMA.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module Diode_SMD:D_SMA (layer F.Cu) (tedit 586432E5) (tstamp 61B06578)
+ (at 152.4 115.57 180)
+ (descr "Diode SMA (DO-214AC)")
+ (tags "Diode SMA (DO-214AC)")
+ (path /61C664DF)
+ (attr smd)
+ (fp_text reference D22 (at 0 -2.5) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value SMA6J5.0A (at 0 2.6) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start -3.4 -1.65) (end -3.4 1.65) (layer F.SilkS) (width 0.12))
+ (fp_line (start 2.3 1.5) (end -2.3 1.5) (layer F.Fab) (width 0.1))
+ (fp_line (start -2.3 1.5) (end -2.3 -1.5) (layer F.Fab) (width 0.1))
+ (fp_line (start 2.3 -1.5) (end 2.3 1.5) (layer F.Fab) (width 0.1))
+ (fp_line (start 2.3 -1.5) (end -2.3 -1.5) (layer F.Fab) (width 0.1))
+ (fp_line (start -3.5 -1.75) (end 3.5 -1.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 3.5 -1.75) (end 3.5 1.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 3.5 1.75) (end -3.5 1.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -3.5 1.75) (end -3.5 -1.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -0.64944 0.00102) (end -1.55114 0.00102) (layer F.Fab) (width 0.1))
+ (fp_line (start 0.50118 0.00102) (end 1.4994 0.00102) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.64944 -0.79908) (end -0.64944 0.80112) (layer F.Fab) (width 0.1))
+ (fp_line (start 0.50118 0.75032) (end 0.50118 -0.79908) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.64944 0.00102) (end 0.50118 0.75032) (layer F.Fab) (width 0.1))
+ (fp_line (start -0.64944 0.00102) (end 0.50118 -0.79908) (layer F.Fab) (width 0.1))
+ (fp_line (start -3.4 1.65) (end 2 1.65) (layer F.SilkS) (width 0.12))
+ (fp_line (start -3.4 -1.65) (end 2 -1.65) (layer F.SilkS) (width 0.12))
+ (fp_text user %R (at -4.826 0) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (pad 1 smd rect (at -2 0 180) (size 2.5 1.8) (layers F.Cu F.Paste F.Mask)
+ (net 43 /HEADING_PWM_RIO))
+ (pad 2 smd rect (at 2 0 180) (size 2.5 1.8) (layers F.Cu F.Paste F.Mask)
+ (net 5 GNDD))
+ (model ${KISYS3DMOD}/Diode_SMD.3dshapes/D_SMA.wrl
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module RspPiPicoIMU:Molex430451425 (layer F.Cu) (tedit 61B82EDE) (tstamp 61B2D9F0)
+ (at 110.84 71.12 180)
+ (descr 43045-1425-3)
+ (tags Connector)
+ (path /61D21E35)
+ (fp_text reference J1 (at 2.382 -6.223) (layer F.SilkS)
+ (effects (font (size 1.27 1.27) (thickness 0.254)))
+ )
+ (fp_text value MICROFIT-VERT-2x7 (at -9 -0.89) (layer F.SilkS) hide
+ (effects (font (size 1.27 1.27) (thickness 0.254)))
+ )
+ (fp_line (start 0 3.16) (end 0 3.16) (layer F.SilkS) (width 0.1))
+ (fp_line (start 0 3.06) (end 0 3.06) (layer F.SilkS) (width 0.1))
+ (fp_line (start -21.575 2.43) (end 3.575 2.43) (layer F.SilkS) (width 0.1))
+ (fp_line (start -21.575 -4.94) (end 3.575 -4.94) (layer F.SilkS) (width 0.1))
+ (fp_line (start -22.8 4.16) (end -22.8 -5.94) (layer F.CrtYd) (width 0.1))
+ (fp_line (start 4.8 4.16) (end -22.8 4.16) (layer F.CrtYd) (width 0.1))
+ (fp_line (start 4.8 -5.94) (end 4.8 4.16) (layer F.CrtYd) (width 0.1))
+ (fp_line (start -22.8 -5.94) (end 4.8 -5.94) (layer F.CrtYd) (width 0.1))
+ (fp_line (start -21.575 2.43) (end -21.575 -4.94) (layer F.Fab) (width 0.2))
+ (fp_line (start 3.575 2.43) (end -21.575 2.43) (layer F.Fab) (width 0.2))
+ (fp_line (start 3.575 -4.94) (end 3.575 2.43) (layer F.Fab) (width 0.2))
+ (fp_line (start -21.575 -4.94) (end 3.575 -4.94) (layer F.Fab) (width 0.2))
+ (fp_arc (start 0 3.11) (end 0 3.16) (angle -180) (layer F.SilkS) (width 0.1))
+ (fp_arc (start 0 3.11) (end 0 3.06) (angle -180) (layer F.SilkS) (width 0.1))
+ (fp_text user %R (at -9 3.683) (layer F.Fab)
+ (effects (font (size 1.27 1.27) (thickness 0.254)))
+ )
+ (pad MH4 np_thru_hole circle (at 3 -3.94 180) (size 1.07 0) (drill 1.07) (layers *.Cu *.Mask))
+ (pad MH3 np_thru_hole circle (at -21 -3.94 180) (size 1.07 0) (drill 1.07) (layers *.Cu *.Mask))
+ (pad "" np_thru_hole circle (at 2.15 -1.5 180) (size 2.460244 2.460244) (drill 2.46) (layers *.Cu *.Mask))
+ (pad "" np_thru_hole circle (at -20.15 -1.5 180) (size 2.460244 2.460244) (drill 2.46) (layers *.Cu *.Mask))
+ (pad 14 thru_hole circle (at -18 -3 180) (size 1.605 1.605) (drill 1.07) (layers *.Cu *.Mask)
+ (net 33 /CS_L))
+ (pad 13 thru_hole circle (at -15 -3 180) (size 1.605 1.605) (drill 1.07) (layers *.Cu *.Mask)
+ (net 32 /SCK_L))
+ (pad 12 thru_hole circle (at -12 -3 180) (size 1.605 1.605) (drill 1.07) (layers *.Cu *.Mask)
+ (net 31 /MISO_L))
+ (pad 11 thru_hole circle (at -9 -3 180) (size 1.605 1.605) (drill 1.07) (layers *.Cu *.Mask)
+ (net 30 /MOSI_L))
+ (pad 10 thru_hole circle (at -6 -3 180) (size 1.605 1.605) (drill 1.07) (layers *.Cu *.Mask)
+ (net 29 /DR_L))
+ (pad 9 thru_hole circle (at -3 -3 180) (size 1.605 1.605) (drill 1.07) (layers *.Cu *.Mask)
+ (net 1 GND))
+ (pad 8 thru_hole circle (at 0 -3 180) (size 1.605 1.605) (drill 1.07) (layers *.Cu *.Mask)
+ (net 1 GND))
+ (pad 7 thru_hole circle (at -18 0 180) (size 1.605 1.605) (drill 1.07) (layers *.Cu *.Mask)
+ (net 28 /CS_H))
+ (pad 6 thru_hole circle (at -15 0 180) (size 1.605 1.605) (drill 1.07) (layers *.Cu *.Mask)
+ (net 27 /SCK_H))
+ (pad 5 thru_hole circle (at -12 0 180) (size 1.605 1.605) (drill 1.07) (layers *.Cu *.Mask)
+ (net 26 /MISO_H))
+ (pad 4 thru_hole circle (at -9 0 180) (size 1.605 1.605) (drill 1.07) (layers *.Cu *.Mask)
+ (net 25 /MOSI_H))
+ (pad 3 thru_hole circle (at -6 0 180) (size 1.605 1.605) (drill 1.07) (layers *.Cu *.Mask)
+ (net 24 /DR_H))
+ (pad 2 thru_hole circle (at -3 0 180) (size 1.605 1.605) (drill 1.07) (layers *.Cu *.Mask)
+ (net 3 +5V))
+ (pad 1 thru_hole circle (at 0 0 180) (size 1.605 1.605) (drill 1.07) (layers *.Cu *.Mask)
+ (net 3 +5V))
+ (model 43045-1425.stp
+ (offset (xyz -8.999999864833629 1.460000016219966 4.959999963655235))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ (model ${KIPRJMOD}/430451425.stp
+ (offset (xyz -9 1.5 5))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ )
+
+ (module RspPiPicoIMU:PICO (layer B.Cu) (tedit 0) (tstamp 61B2DA14)
+ (at 106.68 82.55)
+ (descr PICO-2)
+ (tags Connector)
+ (path /61AC39E3)
+ (attr smd)
+ (fp_text reference U4 (at 4.699 -1.27) (layer B.SilkS)
+ (effects (font (size 1.27 1.27) (thickness 0.254)) (justify mirror))
+ )
+ (fp_text value SC0915-PI-Pico (at 10.5 25.1) (layer B.SilkS) hide
+ (effects (font (size 1.27 1.27) (thickness 0.254)) (justify mirror))
+ )
+ (fp_line (start 0 0) (end 21 0) (layer B.Fab) (width 0.2))
+ (fp_line (start 21 0) (end 21 51) (layer B.Fab) (width 0.2))
+ (fp_line (start 21 51) (end 0 51) (layer B.Fab) (width 0.2))
+ (fp_line (start 0 51) (end 0 0) (layer B.Fab) (width 0.2))
+ (fp_line (start -1.79 52) (end 22.79 52) (layer B.CrtYd) (width 0.1))
+ (fp_line (start 22.79 52) (end 22.79 -1.8) (layer B.CrtYd) (width 0.1))
+ (fp_line (start 22.79 -1.8) (end -1.79 -1.8) (layer B.CrtYd) (width 0.1))
+ (fp_line (start -1.79 -1.8) (end -1.79 52) (layer B.CrtYd) (width 0.1))
+ (fp_line (start 0 51) (end 21 51) (layer B.SilkS) (width 0.1))
+ (fp_line (start 21 51) (end 21 51) (layer B.SilkS) (width 0.1))
+ (fp_line (start 21 51) (end 0 51) (layer B.SilkS) (width 0.1))
+ (fp_line (start 0 51) (end 0 51) (layer B.SilkS) (width 0.1))
+ (fp_line (start 14.75 0) (end 21 0) (layer B.SilkS) (width 0.1))
+ (fp_line (start 21 0) (end 21 0) (layer B.SilkS) (width 0.1))
+ (fp_line (start 21 0) (end 14.75 0) (layer B.SilkS) (width 0.1))
+ (fp_line (start 14.75 0) (end 14.75 0) (layer B.SilkS) (width 0.1))
+ (fp_line (start 0 0) (end 6.5 0) (layer B.SilkS) (width 0.1))
+ (fp_line (start 6.5 0) (end 6.5 0) (layer B.SilkS) (width 0.1))
+ (fp_line (start 6.5 0) (end 0 0) (layer B.SilkS) (width 0.1))
+ (fp_line (start 0 0) (end 0 0) (layer B.SilkS) (width 0.1))
+ (fp_line (start -1.6 49.7) (end -1.6 49.7) (layer B.SilkS) (width 0.2))
+ (fp_line (start -1.5 49.7) (end -1.5 49.7) (layer B.SilkS) (width 0.2))
+ (fp_line (start -1.6 49.7) (end -1.6 49.7) (layer B.SilkS) (width 0.2))
+ (fp_arc (start -1.55 49.7) (end -1.6 49.7) (angle 180) (layer B.SilkS) (width 0.2))
+ (fp_arc (start -1.55 49.7) (end -1.5 49.7) (angle 180) (layer B.SilkS) (width 0.2))
+ (fp_arc (start -1.55 49.7) (end -1.6 49.7) (angle 180) (layer B.SilkS) (width 0.2))
+ (fp_text user %R (at 10.5 25.1) (layer B.Fab)
+ (effects (font (size 1.27 1.27) (thickness 0.254)) (justify mirror))
+ )
+ (pad TP6 smd rect (at 8 38 270) (size 1.5 1.5) (layers B.Cu B.Paste B.Mask))
+ (pad TP5 smd rect (at 8 40.5 270) (size 1.5 1.5) (layers B.Cu B.Paste B.Mask))
+ (pad TP4 smd rect (at 8 43 270) (size 1.5 1.5) (layers B.Cu B.Paste B.Mask))
+ (pad TP3 smd rect (at 9.5 49.8 270) (size 1.5 1.5) (layers B.Cu B.Paste B.Mask))
+ (pad TP2 smd rect (at 11.5 49.8 270) (size 1.5 1.5) (layers B.Cu B.Paste B.Mask))
+ (pad TP1 smd rect (at 10.5 46.5 270) (size 1.5 1.5) (layers B.Cu B.Paste B.Mask))
+ (pad D3 smd rect (at 13.04 0.8) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask))
+ (pad D2 smd rect (at 10.5 0.8) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask))
+ (pad D1 smd rect (at 7.96 0.8) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask))
+ (pad 40 smd rect (at 20.19 49.63 270) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask))
+ (pad 39 smd rect (at 20.19 47.09 270) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask)
+ (net 15 "Net-(D6-Pad1)"))
+ (pad 38 smd rect (at 20.19 44.55 270) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask)
+ (net 1 GND))
+ (pad 37 smd rect (at 20.19 42.01 270) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask))
+ (pad 36 smd rect (at 20.19 39.47 270) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask))
+ (pad 35 smd rect (at 20.19 36.93 270) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask))
+ (pad 34 smd rect (at 20.19 34.39 270) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask))
+ (pad 33 smd rect (at 20.19 31.85 270) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask)
+ (net 1 GND))
+ (pad 32 smd rect (at 20.19 29.31 270) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask))
+ (pad 31 smd rect (at 20.19 26.77 270) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask))
+ (pad 30 smd rect (at 20.19 24.23 270) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask)
+ (net 66 "Net-(R26-Pad1)"))
+ (pad 29 smd rect (at 20.19 21.69 270) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask)
+ (net 53 "Net-(R11-Pad1)"))
+ (pad 28 smd rect (at 20.19 19.15 270) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask)
+ (net 1 GND))
+ (pad 27 smd rect (at 20.19 16.61 270) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask)
+ (net 57 "Net-(R14-Pad1)"))
+ (pad 26 smd rect (at 20.19 14.07 270) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask)
+ (net 56 "Net-(R13-Pad1)"))
+ (pad 25 smd rect (at 20.19 11.53 270) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask)
+ (net 60 "Net-(R16-Pad1)"))
+ (pad 24 smd rect (at 20.19 8.99 270) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask)
+ (net 64 "Net-(R20-Pad1)"))
+ (pad 23 smd rect (at 20.19 6.45 270) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask)
+ (net 1 GND))
+ (pad 22 smd rect (at 20.19 3.91 270) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask)
+ (net 65 "Net-(R21-Pad1)"))
+ (pad 21 smd rect (at 20.19 1.37 270) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask)
+ (net 61 "Net-(R17-Pad1)"))
+ (pad 20 smd rect (at 0.81 1.37 270) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask))
+ (pad 19 smd rect (at 0.81 3.91 270) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask)
+ (net 55 "Net-(R12-Pad2)"))
+ (pad 18 smd rect (at 0.81 6.45 270) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask)
+ (net 1 GND))
+ (pad 17 smd rect (at 0.81 8.99 270) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask)
+ (net 62 /CS_PIn))
+ (pad 16 smd rect (at 0.81 11.53 270) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask)
+ (net 44 /MOSI_PI))
+ (pad 15 smd rect (at 0.81 14.07 270) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask)
+ (net 58 "Net-(R15-Pad2)"))
+ (pad 14 smd rect (at 0.81 16.61 270) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask)
+ (net 52 /SCK_PI))
+ (pad 13 smd rect (at 0.81 19.15 270) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask)
+ (net 1 GND))
+ (pad 12 smd rect (at 0.81 21.69 270) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask)
+ (net 67 /ENC1-A))
+ (pad 11 smd rect (at 0.81 24.23 270) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask)
+ (net 69 /ENC1-B))
+ (pad 10 smd rect (at 0.81 26.77 270) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask)
+ (net 69 /ENC1-B))
+ (pad 9 smd rect (at 0.81 29.31 270) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask)
+ (net 67 /ENC1-A))
+ (pad 8 smd rect (at 0.81 31.85 270) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask)
+ (net 1 GND))
+ (pad 7 smd rect (at 0.81 34.39 270) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask)
+ (net 72 /ENC2-B))
+ (pad 6 smd rect (at 0.81 36.93 270) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask)
+ (net 70 /HEADING_PWM))
+ (pad 5 smd rect (at 0.81 39.47 270) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask)
+ (net 71 /ENC2-A))
+ (pad 4 smd rect (at 0.81 42.01 270) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask)
+ (net 68 /RATE_PWM))
+ (pad 3 smd rect (at 0.81 44.55 270) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask)
+ (net 1 GND))
+ (pad 2 smd rect (at 0.81 47.09 270) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask)
+ (net 72 /ENC2-B))
+ (pad 1 smd rect (at 0.81 49.63 270) (size 1.6 3.2) (layers B.Cu B.Paste B.Mask)
+ (net 71 /ENC2-A))
+ (model PICO.stp
+ (offset (xyz 0 0 0.5400000133476783))
+ (scale (xyz 1 1 1))
+ (rotate (xyz -90 0 0))
+ )
+ )
+
+ (dimension 3.81 (width 0.15) (layer Dwgs.User)
+ (gr_text "0.1500 in" (at 174.782 67.945 90) (layer Dwgs.User)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (feature1 (pts (xy 165.735 66.04) (xy 174.068421 66.04)))
+ (feature2 (pts (xy 165.735 69.85) (xy 174.068421 69.85)))
+ (crossbar (pts (xy 173.482 69.85) (xy 173.482 66.04)))
+ (arrow1a (pts (xy 173.482 66.04) (xy 174.068421 67.166504)))
+ (arrow1b (pts (xy 173.482 66.04) (xy 172.895579 67.166504)))
+ (arrow2a (pts (xy 173.482 69.85) (xy 174.068421 68.723496)))
+ (arrow2b (pts (xy 173.482 69.85) (xy 172.895579 68.723496)))
+ )
+ (dimension 3.81 (width 0.15) (layer Dwgs.User)
+ (gr_text "0.1500 in" (at 167.64 61.311) (layer Dwgs.User)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (feature1 (pts (xy 169.545 69.85) (xy 169.545 62.024579)))
+ (feature2 (pts (xy 165.735 69.85) (xy 165.735 62.024579)))
+ (crossbar (pts (xy 165.735 62.611) (xy 169.545 62.611)))
+ (arrow1a (pts (xy 169.545 62.611) (xy 168.418496 63.197421)))
+ (arrow1b (pts (xy 169.545 62.611) (xy 168.418496 62.024579)))
+ (arrow2a (pts (xy 165.735 62.611) (xy 166.861504 63.197421)))
+ (arrow2b (pts (xy 165.735 62.611) (xy 166.861504 62.024579)))
+ )
+ (dimension 3.81 (width 0.15) (layer Dwgs.User)
+ (gr_text "0.1500 in" (at 95.25 62.454) (layer Dwgs.User)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (feature1 (pts (xy 93.345 69.85) (xy 93.345 63.167579)))
+ (feature2 (pts (xy 97.155 69.85) (xy 97.155 63.167579)))
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+ (xy 98.42418 89.860498) (xy 98.304482 89.824188) (xy 98.18 89.811928) (xy 96.647 89.811928) (xy 96.647 87.988072)
+ (xy 98.18 87.988072) (xy 98.304482 87.975812) (xy 98.42418 87.939502) (xy 98.534494 87.880537) (xy 98.631185 87.801185)
+ (xy 98.710537 87.704494) (xy 98.769502 87.59418) (xy 98.805812 87.474482) (xy 98.818072 87.35) (xy 98.818072 85.85)
+ (xy 98.805812 85.725518) (xy 98.769502 85.60582) (xy 98.710537 85.495506) (xy 98.631185 85.398815) (xy 98.534494 85.319463)
+ (xy 98.42418 85.260498) (xy 98.304482 85.224188) (xy 98.291593 85.222919) (xy 98.241103 85.056477) (xy 98.134968 84.857911)
+ (xy 97.992133 84.683867) (xy 97.948517 84.648072) (xy 97.499889 84.199444) (xy 97.427555 84.091189) (xy 97.264811 83.928445)
+ (xy 97.073445 83.800578) (xy 96.86081 83.712501) (xy 96.647 83.669972) (xy 96.647 82.043503)
+ )
+ )
+ )
+)
diff --git a/motors/RspPiPicoIMU/RspPiPicoIMU.lib b/motors/RspPiPicoIMU/RspPiPicoIMU.lib
new file mode 100644
index 0000000..a3d4aff
--- /dev/null
+++ b/motors/RspPiPicoIMU/RspPiPicoIMU.lib
@@ -0,0 +1,447 @@
+EESchema-LIBRARY Version 2.4
+#encoding utf-8
+#
+# 4-PIN-VERT-MOLEX
+#
+DEF 4-PIN-VERT-MOLEX J 0 40 Y Y 1 F N
+F0 "J" 25 25 50 H V C CNN
+F1 "4-PIN-VERT-MOLEX" 50 25 50 H I C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+DRAW
+S 0 -50 25 -450 0 1 0 F
+P 2 0 1 0 150 -400 125 -425 N
+P 2 0 1 0 150 -300 125 -325 N
+P 2 0 1 0 150 -200 125 -225 N
+P 2 0 1 0 150 -100 125 -75 N
+P 3 0 1 0 0 -400 150 -400 125 -375 N
+P 3 0 1 0 0 -300 150 -300 125 -275 N
+P 3 0 1 0 0 -200 150 -200 125 -175 N
+P 3 0 1 0 0 -100 150 -100 125 -125 N
+X ~ 1 -100 -100 100 R 50 50 1 1 U
+X ~ 2 -100 -200 100 R 50 50 1 1 U
+X ~ 3 -100 -300 100 R 50 50 1 1 U
+X ~ 4 -100 -400 100 R 50 50 1 1 U
+ENDDRAW
+ENDDEF
+#
+# ADIS16505-3BMLZ
+#
+DEF ADIS16505-3BMLZ U 0 40 Y Y 1 F N
+F0 "U" 50 50 50 H V C CNN
+F1 "ADIS16505-3BMLZ" 100 -100 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+DRAW
+S -800 0 1100 -4000 0 1 0 f
+S -100 -200 400 -3200 0 1 0 N
+X GND A2 -900 -1100 100 R 50 50 0 0 P
+X GND A1 -900 -1000 100 R 50 50 1 1 P
+X NC A10 -200 -400 100 R 50 50 1 1 P
+X GND A3 -900 -1200 100 R 50 50 1 1 P
+X GND A4 -900 -1300 100 R 50 50 1 1 P
+X GND A5 -900 -1400 100 R 50 50 1 1 P
+X GND A6 -900 -1500 100 R 50 50 1 1 P
+X GND A7 -900 -1600 100 R 50 50 1 1 P
+X GND A8 -900 -1700 100 R 50 50 1 1 P
+X NC A9 -200 -300 100 R 50 50 1 1 P
+X NC B1 -200 -500 100 R 50 50 1 1 P
+X NC B10 -200 -1000 100 R 50 50 1 1 P
+X NC B2 -200 -600 100 R 50 50 1 1 P
+X GND B3 -900 -1800 100 R 50 50 1 1 P
+X GND B4 -900 -1900 100 R 50 50 1 1 P
+X GND B5 -900 -2000 100 R 50 50 1 1 P
+X GND B6 -900 -2100 100 R 50 50 1 1 P
+X NC B7 -200 -700 100 R 50 50 1 1 P
+X NC B8 -200 -800 100 R 50 50 1 1 P
+X NC B9 -200 -900 100 R 50 50 1 1 P
+X NC C1 -200 -1100 100 R 50 50 1 1 P
+X NC C10 -200 -1700 100 R 50 50 1 1 P
+X GND C2 -900 -2200 100 R 50 50 1 1 P
+X DNC C3 -200 -1200 100 R 50 50 1 1 N
+X NC C4 -200 -1300 100 R 50 50 1 1 P
+X NC C5 -200 -1400 100 R 50 50 1 1 P
+X GND C6 -900 -2300 100 R 50 50 1 1 P
+X VDD C7 -900 -100 100 R 50 50 1 1 W
+X NC C8 -200 -1500 100 R 50 50 1 1 P
+X NC C9 -200 -1600 100 R 50 50 1 1 P
+X NC D1 -200 -1800 100 R 50 50 1 1 P
+X NC D10 -200 -2500 100 R 50 50 1 1 P
+X NC D2 -200 -1900 100 R 50 50 1 1 P
+X GND D3 -900 -2400 100 R 50 50 1 1 P
+X NC D4 -200 -2000 100 R 50 50 1 1 P
+X NC D5 -200 -2100 100 R 50 50 1 1 P
+X VDD D6 -900 -200 100 R 50 50 1 1 W
+X NC D7 -200 -2200 100 R 50 50 1 1 P
+X NC D8 -200 -2300 100 R 50 50 1 1 P
+X NC D9 -200 -2400 100 R 50 50 1 1 P
+X NC E1 -200 -2600 100 R 50 50 1 1 P
+X NC E10 -200 -3100 100 R 50 50 1 1 P
+X GND E2 -900 -2500 100 R 50 50 1 1 P
+X VDD E3 -900 -300 100 R 50 50 1 1 W
+X NC E4 -200 -2700 100 R 50 50 1 1 P
+X NC E5 -200 -2800 100 R 50 50 1 1 P
+X GND E6 -900 -2600 100 R 50 50 1 1 P
+X GND E7 -900 -2700 100 R 50 50 1 1 P
+X NC E8 -200 -2900 100 R 50 50 1 1 P
+X NC E9 -200 -3000 100 R 50 50 1 1 P
+X GND F1 -900 -2800 100 R 50 50 1 1 P
+X NC F10 500 -800 100 L 50 50 1 1 P
+X NC F2 500 -400 100 L 50 50 1 1 P
+X ~RST F3 1200 -100 100 L 50 50 1 1 I
+X NC F4 500 -500 100 L 50 50 1 1 P
+X GND F5 -900 -2900 100 R 50 50 1 1 P
+X GND F6 -900 -3000 100 R 50 50 1 1 P
+X NC F7 500 -600 100 L 50 50 1 1 P
+X GND F8 -900 -3100 100 R 50 50 1 1 P
+X NC F9 500 -700 100 L 50 50 1 1 P
+X VDD G1 -900 -400 100 R 50 50 1 1 W
+X NC G10 500 -1300 100 L 50 50 1 1 P
+X GND G2 -900 -3200 100 R 50 50 1 1 P
+X ~CS G3 1200 -700 100 L 50 50 1 1 I
+X NC G4 500 -900 100 L 50 50 1 1 P
+X NC G5 500 -1000 100 L 50 50 1 1 P
+X DIN G6 1200 -400 100 L 50 50 1 1 I
+X GND G7 -900 -3300 100 R 50 50 1 1 P
+X NC G8 500 -1100 100 L 50 50 1 1 P
+X NC G9 500 -1200 100 L 50 50 1 1 P
+X VDD H1 -900 -500 100 R 50 50 1 1 W
+X NC H10 500 -1900 100 L 50 50 1 1 P
+X NC H2 500 -1400 100 L 50 50 1 1 P
+X DOUT H3 1200 -500 100 L 50 50 1 1 T
+X NC H4 500 -1500 100 L 50 50 1 1 P
+X NC H5 500 -1600 100 L 50 50 1 1 P
+X SCLK H6 1200 -600 100 L 50 50 1 1 I
+X NC H7 500 -1700 100 L 50 50 1 1 P
+X GND H8 -900 -3400 100 R 50 50 1 1 P
+X NC H9 500 -1800 100 L 50 50 1 1 P
+X NC J1 500 -2000 100 L 50 50 1 1 P
+X NC J10 500 -2300 100 L 50 50 1 1 P
+X GND J2 -900 -3500 100 R 50 50 1 1 P
+X SYNC J3 1200 -300 100 L 50 50 1 1 I
+X VDD J4 -900 -600 100 R 50 50 1 1 W
+X VDD J5 -900 -700 100 R 50 50 1 1 W
+X DR J6 1200 -200 100 L 50 50 1 1 O
+X GND J7 -900 -3600 100 R 50 50 1 1 P
+X NC J8 500 -2100 100 L 50 50 1 1 P
+X NC J9 500 -2200 100 L 50 50 1 1 P
+X GND K1 -900 -3700 100 R 50 50 1 1 P
+X NC K10 500 -2900 100 L 50 50 1 1 P
+X NC K2 500 -2400 100 L 50 50 1 1 P
+X GND K3 -900 -3800 100 R 50 50 1 1 P
+X NC K4 500 -2500 100 L 50 50 1 1 P
+X NC K5 500 -2600 100 L 50 50 1 1 P
+X VDD K6 -900 -800 100 R 50 50 1 1 W
+X NC K7 500 -2700 100 L 50 50 1 1 P
+X GND K8 -900 -3900 100 R 50 50 1 1 P
+X NC K9 500 -2800 100 L 50 50 1 1 P
+ENDDRAW
+ENDDEF
+#
+# ADM3490ARZ
+#
+DEF ADM3490ARZ U 0 40 Y Y 1 F N
+F0 "U" 50 50 50 H V C CNN
+F1 "ADM3490ARZ" 250 -850 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+DRAW
+C 425 -500 25 0 1 0 N
+C 425 -200 25 0 1 0 N
+S 0 0 500 -800 0 1 0 f
+P 2 0 1 0 400 -400 500 -400 N
+P 2 0 1 0 400 -50 400 -250 N
+P 2 0 1 0 450 -500 500 -500 N
+P 2 0 1 0 450 -200 500 -200 N
+P 2 0 1 0 500 -100 400 -100 N
+P 4 0 1 0 150 -100 175 -100 175 -150 250 -150 N
+P 4 0 1 0 250 -450 175 -450 175 -400 150 -400 N
+P 4 0 1 0 400 -350 400 -550 250 -450 400 -350 N
+P 4 0 1 0 400 -150 250 -50 250 -250 400 -150 N
+X VCC 1 -100 -600 100 R 50 50 1 1 W
+X RO 2 -100 -400 100 R 50 50 1 1 O
+X DI 3 -100 -100 100 R 50 50 1 1 I
+X GND 4 -100 -700 100 R 50 50 1 1 P
+X ~ 5 600 -100 100 L 50 50 1 1 O
+X ~ 6 600 -200 100 L 50 50 1 1 O
+X ~ 7 600 -500 100 L 50 50 1 1 I
+X ~ 8 600 -400 100 L 50 50 1 1 I
+ENDDRAW
+ENDDEF
+#
+# ADUM1280ARZ
+#
+DEF ADUM1280ARZ U 0 20 Y Y 1 F N
+F0 "U" 100 25 50 H V C CNN
+F1 "ADUM1280ARZ" 275 -850 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+DRAW
+S 0 0 500 -800 0 1 0 f
+S 225 0 275 -800 0 1 0 F
+P 2 0 1 0 0 -500 50 -500 N
+P 2 0 1 0 0 -300 50 -300 N
+P 2 0 1 0 0 -300 75 -300 N
+P 2 0 1 0 150 -500 200 -500 N
+P 2 0 1 0 150 -300 200 -300 N
+P 2 0 1 0 175 -350 200 -350 N
+P 2 0 1 0 175 -250 200 -250 N
+P 2 0 1 0 200 -250 200 -350 N
+P 2 0 1 0 300 -500 350 -500 N
+P 2 0 1 0 300 -300 350 -300 N
+P 2 0 1 0 425 -500 475 -500 N
+P 2 0 1 0 425 -300 475 -300 N
+P 2 0 1 0 450 -500 500 -500 N
+P 2 0 1 0 450 -300 500 -300 N
+P 4 0 1 0 75 -250 75 -350 150 -300 75 -250 N
+P 4 0 1 0 175 -450 200 -450 200 -550 175 -550 N
+P 4 0 1 0 325 -450 300 -450 300 -550 325 -550 N
+P 4 0 1 0 325 -250 300 -250 300 -350 325 -350 N
+P 4 0 1 0 350 -450 350 -550 425 -500 350 -450 N
+P 4 0 1 0 350 -250 350 -350 425 -300 350 -250 N
+P 6 0 1 0 0 -500 75 -500 75 -550 150 -500 75 -450 75 -500 N
+X VDD1 1 -100 -100 100 R 50 50 1 1 W
+X ~ 2 -100 -300 100 R 50 50 1 1 I
+X ~ 3 -100 -500 100 R 50 50 1 1 I
+X GND1 4 -100 -700 100 R 50 50 1 1 P
+X GND2 5 600 -700 100 L 50 50 1 1 P
+X ~ 6 600 -500 100 L 50 50 1 1 O
+X ~ 7 600 -300 100 L 50 50 1 1 O
+X VDD2 8 600 -100 100 L 50 50 1 1 W
+ENDDRAW
+ENDDEF
+#
+# MC74AC125DG
+#
+DEF MC74AC125DG U 0 40 Y Y 1 F N
+F0 "U" 75 50 50 H V C CNN
+F1 "MC74AC125DG" 175 -1450 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+DRAW
+S 0 0 400 -1400 0 1 0 f
+P 2 0 1 0 250 -1100 400 -1100 N
+P 2 0 1 0 250 -800 400 -800 N
+P 2 0 1 0 250 -500 400 -500 N
+P 2 0 1 0 250 -200 400 -200 N
+P 3 0 1 0 0 -1000 175 -1000 175 -1050 N
+P 3 0 1 0 0 -700 175 -700 175 -750 N
+P 3 0 1 0 0 -400 175 -400 175 -450 N
+P 3 0 1 0 0 -100 175 -100 175 -150 N
+P 6 0 1 0 0 -1100 125 -1100 125 -1025 250 -1100 125 -1175 125 -1100 N
+P 6 0 1 0 0 -800 125 -800 125 -725 250 -800 125 -875 125 -800 N
+P 6 0 1 0 0 -500 125 -500 125 -425 250 -500 125 -575 125 -500 N
+P 7 0 1 0 0 -200 125 -200 125 -150 125 -125 250 -200 125 -275 125 -200 N
+X ~ 1 -100 -100 100 R 50 50 1 1 I I
+X ~ 10 -100 -700 100 R 50 50 1 1 I I
+X ~ 11 500 -1100 100 L 50 50 1 1 T
+X ~ 12 -100 -1100 100 R 50 50 1 1 I
+X ~ 13 -100 -1000 100 R 50 50 1 1 I I
+X VCC 14 500 -1300 100 L 50 50 1 1 W
+X ~ 2 -100 -200 100 R 50 50 1 1 I
+X ~ 3 500 -200 100 L 50 50 1 1 T
+X ~ 4 -100 -400 100 R 50 50 1 1 I I
+X ~ 5 -100 -500 100 R 50 50 1 1 I
+X ~ 6 500 -500 100 L 50 50 1 1 T
+X GND 7 -100 -1300 100 R 50 50 1 1 W
+X ~ 8 500 -800 100 L 50 50 1 1 T
+X ~ 9 -100 -800 100 R 50 50 1 1 I
+ENDDRAW
+ENDDEF
+#
+# MICROFIT-VERT-2x7
+#
+DEF MICROFIT-VERT-2x7 J 0 40 Y Y 1 F N
+F0 "J" 0 0 50 H V C CNN
+F1 "MICROFIT-VERT-2x7" -100 75 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+DRAW
+S 125 -50 150 -1450 0 1 0 F
+P 2 0 1 0 275 -1400 250 -1425 N
+P 2 0 1 0 275 -1300 250 -1325 N
+P 2 0 1 0 275 -1200 250 -1225 N
+P 2 0 1 0 275 -1100 250 -1125 N
+P 2 0 1 0 275 -1000 250 -1025 N
+P 2 0 1 0 275 -900 250 -925 N
+P 2 0 1 0 275 -800 250 -825 N
+P 2 0 1 0 275 -700 250 -725 N
+P 2 0 1 0 275 -600 250 -625 N
+P 2 0 1 0 275 -500 250 -525 N
+P 2 0 1 0 275 -400 250 -425 N
+P 2 0 1 0 275 -300 250 -325 N
+P 2 0 1 0 275 -200 250 -175 N
+P 2 0 1 0 275 -100 250 -75 N
+P 3 0 1 0 100 -1400 275 -1400 250 -1375 N
+P 3 0 1 0 100 -1300 275 -1300 250 -1275 N
+P 3 0 1 0 100 -1200 275 -1200 250 -1175 N
+P 3 0 1 0 100 -1100 275 -1100 250 -1075 N
+P 3 0 1 0 100 -1000 275 -1000 250 -975 N
+P 3 0 1 0 100 -900 275 -900 250 -875 N
+P 3 0 1 0 100 -800 275 -800 250 -775 N
+P 3 0 1 0 100 -700 275 -700 250 -675 N
+P 3 0 1 0 100 -600 275 -600 250 -575 N
+P 3 0 1 0 100 -500 275 -500 250 -475 N
+P 3 0 1 0 100 -400 275 -400 250 -375 N
+P 3 0 1 0 100 -300 275 -300 250 -275 N
+P 3 0 1 0 100 -200 275 -200 250 -225 N
+P 3 0 1 0 100 -100 275 -100 250 -125 N
+X ~ 1 0 -100 100 R 50 50 1 1 U
+X ~ 10 0 -600 100 R 50 50 1 1 U
+X ~ 11 0 -800 100 R 50 50 1 1 U
+X ~ 12 0 -1000 100 R 50 50 1 1 U
+X ~ 13 0 -1200 100 R 50 50 1 1 U
+X ~ 14 0 -1400 100 R 50 50 1 1 U
+X ~ 2 0 -300 100 R 50 50 1 1 U
+X ~ 3 0 -500 100 R 50 50 1 1 U
+X ~ 4 0 -700 100 R 50 50 1 1 U
+X ~ 5 0 -900 100 R 50 50 1 1 U
+X ~ 6 0 -1100 100 R 50 50 1 1 U
+X ~ 7 0 -1300 100 R 50 50 1 1 U
+X ~ 8 0 -200 100 R 50 50 1 1 U
+X ~ 9 0 -400 100 R 50 50 1 1 U
+ENDDRAW
+ENDDEF
+#
+# SC0915-PI-Pico
+#
+DEF SC0915-PI-Pico U 0 40 Y Y 1 F N
+F0 "U" 50 50 50 H V C CNN
+F1 "SC0915-PI-Pico" 650 -50 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+DRAW
+S 0 0 1300 -2800 0 1 0 f
+X GP0 1 -100 -1000 100 R 50 50 1 1 B
+X PIO1/GP7 10 1400 -1000 100 L 50 50 1 1 I
+X GP8 11 -100 -1200 100 R 50 50 1 1 B
+X GP9 12 -100 -1300 100 R 50 50 1 1 B
+X GND 13 400 -2900 100 U 50 50 1 1 P
+X SPI1_SCK/GP10 14 1400 -500 100 L 50 50 1 1 O
+X SPI1_TX/GP11 15 1400 -400 100 L 50 50 1 1 O
+X SPI1_RX/GP12 16 1400 -300 100 L 50 50 1 1 I
+X SPI1_CSn/GP13 17 1400 -600 100 L 50 50 1 1 I
+X GND 18 500 -2900 100 U 50 50 1 1 P
+X GP14 19 1400 -200 100 L 50 50 1 1 O
+X GP1 2 -100 -1100 100 R 50 50 1 1 B
+X GP15 20 -100 -1400 100 R 50 50 1 1 B
+X GP16/SPI0_RX 21 -100 -600 100 R 50 50 1 1 I
+X GP17/SPI0_CSn 22 -100 -800 100 R 50 50 1 1 O
+X GND 23 600 -2900 100 U 50 50 1 1 P
+X GP18/SPI0_SCK 24 -100 -700 100 R 50 50 1 1 O
+X GP19/SPI0_TX 25 -100 -500 100 R 50 50 1 1 O
+X GP20 26 -100 -300 100 R 50 50 1 1 I
+X GP21 27 -100 -400 100 R 50 50 1 1 O
+X GND 28 700 -2900 100 U 50 50 1 1 P
+X GP22 29 -100 -200 100 R 50 50 1 1 O
+X GND 3 200 -2900 100 U 50 50 1 1 P
+X RUN 30 -100 -1900 100 R 50 50 1 1 I
+X GP26 31 -100 -1500 100 R 50 50 1 1 B
+X GP27 32 -100 -1600 100 R 50 50 1 1 B
+X GND/AGND 33 800 -2900 100 U 50 50 1 1 P
+X GP28 34 -100 -1700 100 R 50 50 1 1 B
+X ADC_VREF 35 -100 -2000 100 R 50 50 1 1 P
+X 3V3(OUT) 36 -100 -2100 100 R 50 50 1 1 w
+X 3V3_EN 37 -100 -2200 100 R 50 50 1 1 I
+X GND 38 900 -2900 100 U 50 50 1 1 P
+X VSYS 39 -100 -2500 100 R 50 50 1 1 W
+X PWM1A/GP2 4 1400 -2100 100 L 50 50 1 1 O
+X VBUS 40 -100 -2400 100 R 50 50 1 1 W
+X PIO0/GP3 5 1400 -1600 100 L 50 50 1 1 I
+X PWM2A/GP4 6 1400 -2200 100 L 50 50 1 1 O
+X PIO0/GP5 7 1400 -1700 100 L 50 50 1 1 I
+X GND 8 300 -2900 100 U 50 50 1 1 P
+X PIO1/GP6 9 1400 -900 100 L 50 50 1 1 I
+X SWCLK D1 1400 -2400 100 L 50 50 1 1 U
+X GND D2 1400 -2600 100 L 50 50 1 1 U
+X SWDIO D3 1400 -2500 100 L 50 50 1 1 U
+ENDDRAW
+ENDDEF
+#
+# SMA6J5.0A
+#
+DEF SMA6J5.0A D 0 40 Y Y 1 F N
+F0 "D" 125 -50 50 H V C CNN
+F1 "SMA6J5.0A" 225 50 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+F4 "SMA6J5.0A" -275 -75 50 H V C CNN "P/N"
+F5 "Bourns" -250 0 50 H V C CNN "MFG"
+DRAW
+P 4 0 1 0 -75 -100 75 -100 0 0 -75 -100 F
+P 4 0 1 0 -75 -25 -50 0 50 0 75 25 N
+X ~ 1 0 100 100 D 50 50 1 1 U
+X ~ 2 0 -200 100 U 50 50 1 1 U
+ENDDRAW
+ENDDEF
+#
+# SMDJ5.0A
+#
+DEF SMDJ5.0A D 0 40 Y Y 1 F N
+F0 "D" 125 -125 50 H V C CNN
+F1 "SMDJ5.0A" 275 -50 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+F4 "SMDJ5.0A" -275 -125 50 H V C CNN "P/N"
+F5 "Littelfuse" -275 -25 50 H V C CNN "MFG"
+DRAW
+P 2 0 1 0 0 -200 0 -150 N
+P 2 0 1 0 0 0 0 -50 N
+P 4 0 1 0 -75 -150 75 -150 0 -50 -75 -150 F
+P 4 0 1 0 -75 -75 -50 -50 50 -50 75 -25 N
+X ~ 1 0 100 100 D 50 50 1 1 U
+X ~ 2 0 -300 100 U 50 50 1 1 U
+ENDDRAW
+ENDDEF
+#
+# SN74HC14DR
+#
+DEF SN74HC14DR U 0 40 Y Y 1 F N
+F0 "U" 25 50 50 H V C CNN
+F1 "SN74HC14DR" 200 -850 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+DRAW
+C 275 -600 25 0 1 0 N
+C 275 -500 25 0 1 0 N
+C 275 -400 25 0 1 0 N
+C 275 -300 25 0 1 0 N
+C 275 -200 25 0 1 0 N
+C 275 -100 25 0 1 0 N
+S 0 0 400 -800 0 1 0 f
+P 2 0 1 0 0 -600 100 -600 N
+P 2 0 1 0 0 -500 100 -500 N
+P 2 0 1 0 0 -400 100 -400 N
+P 2 0 1 0 0 -300 100 -300 N
+P 2 0 1 0 0 -200 100 -200 N
+P 2 0 1 0 0 -100 100 -100 N
+P 2 0 1 0 300 -600 400 -600 N
+P 2 0 1 0 300 -500 400 -500 N
+P 2 0 1 0 300 -400 400 -400 N
+P 2 0 1 0 300 -300 400 -300 N
+P 2 0 1 0 300 -200 400 -200 N
+P 2 0 1 0 300 -100 400 -100 N
+P 6 0 1 0 100 -600 175 -600 175 -550 250 -600 175 -650 175 -600 N
+P 6 0 1 0 100 -500 175 -500 175 -450 250 -500 175 -550 175 -500 N
+P 6 0 1 0 100 -400 175 -400 175 -350 250 -400 175 -450 175 -400 N
+P 6 0 1 0 100 -300 175 -300 175 -250 250 -300 175 -350 175 -300 N
+P 6 0 1 0 100 -100 175 -100 175 -50 250 -100 175 -150 175 -100 N
+P 7 0 1 0 100 -200 175 -200 175 -175 175 -150 250 -200 175 -250 175 -200 N
+X ~ 1 -100 -100 100 R 50 50 1 1 I
+X ~ 10 500 -500 100 L 50 50 1 1 O
+X ~ 11 -100 -500 100 R 50 50 1 1 I
+X ~ 12 500 -600 100 L 50 50 1 1 O
+X ~ 13 -100 -600 100 R 50 50 1 1 I
+X VCC 14 500 -700 100 L 50 50 1 1 W
+X ~ 2 500 -100 100 L 50 50 1 1 O
+X ~ 3 -100 -200 100 R 50 50 1 1 I
+X ~ 4 500 -200 100 L 50 50 1 1 O
+X ~ 5 -100 -300 100 R 50 50 1 1 I
+X ~ 6 500 -300 100 L 50 50 1 1 O
+X GND 7 -100 -700 100 R 50 50 1 1 P
+X ~ 8 500 -400 100 L 50 50 1 1 O
+X ~ 9 -100 -400 100 R 50 50 1 1 I
+ENDDRAW
+ENDDEF
+#
+#End Library
diff --git a/motors/RspPiPicoIMU/RspPiPicoIMU.pretty/BGA-100_10x10_15.0x15.0mm.kicad_mod b/motors/RspPiPicoIMU/RspPiPicoIMU.pretty/BGA-100_10x10_15.0x15.0mm.kicad_mod
new file mode 100644
index 0000000..84f88b3
--- /dev/null
+++ b/motors/RspPiPicoIMU/RspPiPicoIMU.pretty/BGA-100_10x10_15.0x15.0mm.kicad_mod
@@ -0,0 +1,237 @@
+(module BGA-100_10x10_15.0x15.0mm (layer F.Cu) (tedit 61B1BAAA)
+ (attr smd)
+ (fp_text reference REF** (at 0 -8.5) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value BGA-100_10x10_15.0x15.0mm (at 0 8.5) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start -7.75 7.75) (end -7.75 -7.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 7.75 7.75) (end -7.75 7.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start 7.75 -7.75) (end 7.75 7.75) (layer F.CrtYd) (width 0.05))
+ (fp_line (start -7.75 -7.75) (end 7.75 -7.75) (layer F.CrtYd) (width 0.05))
+ (fp_circle (center -7.5 -7.5) (end -7.5 -7.4) (layer F.SilkS) (width 0.2))
+ (fp_line (start -7.62 -6.5) (end -7.62 -3.87) (layer F.SilkS) (width 0.12))
+ (fp_line (start -6.5 -7.62) (end -7.62 -6.5) (layer F.SilkS) (width 0.12))
+ (fp_line (start -3.87 -7.62) (end -6.5 -7.62) (layer F.SilkS) (width 0.12))
+ (fp_line (start -7.62 7.62) (end -7.62 3.87) (layer F.SilkS) (width 0.12))
+ (fp_line (start -3.87 7.62) (end -7.62 7.62) (layer F.SilkS) (width 0.12))
+ (fp_line (start 7.62 -7.62) (end 7.62 -3.87) (layer F.SilkS) (width 0.12))
+ (fp_line (start 3.87 -7.62) (end 7.62 -7.62) (layer F.SilkS) (width 0.12))
+ (fp_line (start 7.62 7.62) (end 7.62 3.87) (layer F.SilkS) (width 0.12))
+ (fp_line (start 3.87 7.62) (end 7.62 7.62) (layer F.SilkS) (width 0.12))
+ (fp_line (start 7.62 -7.62) (end 7.62 -3.87) (layer F.SilkS) (width 0.12))
+ (fp_line (start 3.87 -7.62) (end 7.62 -7.62) (layer F.SilkS) (width 0.12))
+ (fp_line (start 7.62 -7.62) (end 7.62 -3.87) (layer F.SilkS) (width 0.12))
+ (fp_line (start 3.87 -7.62) (end 7.62 -7.62) (layer F.SilkS) (width 0.12))
+ (fp_line (start 7.5 -7.5) (end -6.5 -7.5) (layer F.Fab) (width 0.1))
+ (fp_line (start 7.5 7.5) (end 7.5 -7.5) (layer F.Fab) (width 0.1))
+ (fp_line (start -7.5 7.5) (end 7.5 7.5) (layer F.Fab) (width 0.1))
+ (fp_line (start -7.5 -6.5) (end -7.5 7.5) (layer F.Fab) (width 0.1))
+ (fp_line (start -6.5 -7.5) (end -7.5 -6.5) (layer F.Fab) (width 0.1))
+ (pad A1 smd circle (at -5.715 -5.715) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad B1 smd circle (at -5.715 -4.445) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad C1 smd circle (at -5.715 -3.175) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad D1 smd circle (at -5.715 -1.905) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad E1 smd circle (at -5.715 -0.635) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad F1 smd circle (at -5.715 0.635) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad G1 smd circle (at -5.715 1.905) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad H1 smd circle (at -5.715 3.175) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad J1 smd circle (at -5.715 4.445) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad K1 smd circle (at -5.715 5.715) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad A2 smd circle (at -4.445 -5.715) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad B2 smd circle (at -4.445 -4.445) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad C2 smd circle (at -4.445 -3.175) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad D2 smd circle (at -4.445 -1.905) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad E2 smd circle (at -4.445 -0.635) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad F2 smd circle (at -4.445 0.635) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad G2 smd circle (at -4.445 1.905) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad H2 smd circle (at -4.445 3.175) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad J2 smd circle (at -4.445 4.445) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad K2 smd circle (at -4.445 5.715) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad A3 smd circle (at -3.175 -5.715) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad B3 smd circle (at -3.175 -4.445) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad C3 smd circle (at -3.175 -3.175) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad D3 smd circle (at -3.175 -1.905) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad E3 smd circle (at -3.175 -0.635) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad F3 smd circle (at -3.175 0.635) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad G3 smd circle (at -3.175 1.905) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad H3 smd circle (at -3.175 3.175) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad J3 smd circle (at -3.175 4.445) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad K3 smd circle (at -3.175 5.715) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad A4 smd circle (at -1.905 -5.715) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad B4 smd circle (at -1.905 -4.445) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad C4 smd circle (at -1.905 -3.175) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad D4 smd circle (at -1.905 -1.905) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad E4 smd circle (at -1.905 -0.635) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad F4 smd circle (at -1.905 0.635) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad G4 smd circle (at -1.905 1.905) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad H4 smd circle (at -1.905 3.175) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad J4 smd circle (at -1.905 4.445) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad K4 smd circle (at -1.905 5.715) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad A5 smd circle (at -0.635 -5.715) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad B5 smd circle (at -0.635 -4.445) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad C5 smd circle (at -0.635 -3.175) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad D5 smd circle (at -0.635 -1.905) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad E5 smd circle (at -0.635 -0.635) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad F5 smd circle (at -0.635 0.635) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad G5 smd circle (at -0.635 1.905) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad H5 smd circle (at -0.635 3.175) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad J5 smd circle (at -0.635 4.445) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad K5 smd circle (at -0.635 5.715) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad A6 smd circle (at 0.635 -5.715) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad B6 smd circle (at 0.635 -4.445) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad C6 smd circle (at 0.635 -3.175) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad D6 smd circle (at 0.635 -1.905) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad E6 smd circle (at 0.635 -0.635) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad F6 smd circle (at 0.635 0.635) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad G6 smd circle (at 0.635 1.905) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad H6 smd circle (at 0.635 3.175) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad J6 smd circle (at 0.635 4.445) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad K6 smd circle (at 0.635 5.715) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad A7 smd circle (at 1.905 -5.715) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad B7 smd circle (at 1.905 -4.445) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad C7 smd circle (at 1.905 -3.175) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad D7 smd circle (at 1.905 -1.905) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad E7 smd circle (at 1.905 -0.635) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad F7 smd circle (at 1.905 0.635) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad G7 smd circle (at 1.905 1.905) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad H7 smd circle (at 1.905 3.175) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad J7 smd circle (at 1.905 4.445) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad K7 smd circle (at 1.905 5.715) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad A8 smd circle (at 3.175 -5.715) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad B8 smd circle (at 3.175 -4.445) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad C8 smd circle (at 3.175 -3.175) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad D8 smd circle (at 3.175 -1.905) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad E8 smd circle (at 3.175 -0.635) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad F8 smd circle (at 3.175 0.635) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad G8 smd circle (at 3.175 1.905) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad H8 smd circle (at 3.175 3.175) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad J8 smd circle (at 3.175 4.445) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad K8 smd circle (at 3.175 5.715) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad A9 smd circle (at 4.445 -5.715) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad B9 smd circle (at 4.445 -4.445) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad C9 smd circle (at 4.445 -3.175) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad D9 smd circle (at 4.445 -1.905) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad E9 smd circle (at 4.445 -0.635) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad F9 smd circle (at 4.445 0.635) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad G9 smd circle (at 4.445 1.905) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad H9 smd circle (at 4.445 3.175) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad J9 smd circle (at 4.445 4.445) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad K9 smd circle (at 4.445 5.715) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad A10 smd circle (at 5.715 -5.715) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad B10 smd circle (at 5.715 -4.445) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad C10 smd circle (at 5.715 -3.175) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad D10 smd circle (at 5.715 -1.905) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad E10 smd circle (at 5.715 -0.635) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad F10 smd circle (at 5.715 0.635) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad G10 smd circle (at 5.715 1.905) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad H10 smd circle (at 5.715 3.175) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad J10 smd circle (at 5.715 4.445) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (pad K10 smd circle (at 5.715 5.715) (size 0.56 0.56) (layers F.Cu F.Paste F.Mask)
+ (clearance 0.085))
+ (model ${KIPRJMOD}/ADIS16505-2BMLZ.stp
+ (at (xyz 0 0 0))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+)
diff --git a/motors/RspPiPicoIMU/RspPiPicoIMU.pretty/Molex430451425.kicad_mod b/motors/RspPiPicoIMU/RspPiPicoIMU.pretty/Molex430451425.kicad_mod
new file mode 100644
index 0000000..34e1b9d
--- /dev/null
+++ b/motors/RspPiPicoIMU/RspPiPicoIMU.pretty/Molex430451425.kicad_mod
@@ -0,0 +1,55 @@
+(module Molex430451425 (layer F.Cu) (tedit 61B82DFF)
+ (descr 43045-1425-3)
+ (tags Connector)
+ (fp_text reference J** (at -9 -0.89) (layer F.SilkS)
+ (effects (font (size 1.27 1.27) (thickness 0.254)))
+ )
+ (fp_text value Molex430451425 (at -9 -0.89) (layer F.SilkS) hide
+ (effects (font (size 1.27 1.27) (thickness 0.254)))
+ )
+ (fp_line (start -21.575 -4.94) (end 3.575 -4.94) (layer F.Fab) (width 0.2))
+ (fp_line (start 3.575 -4.94) (end 3.575 2.43) (layer F.Fab) (width 0.2))
+ (fp_line (start 3.575 2.43) (end -21.575 2.43) (layer F.Fab) (width 0.2))
+ (fp_line (start -21.575 2.43) (end -21.575 -4.94) (layer F.Fab) (width 0.2))
+ (fp_line (start -22.8 -5.94) (end 4.8 -5.94) (layer F.CrtYd) (width 0.1))
+ (fp_line (start 4.8 -5.94) (end 4.8 4.16) (layer F.CrtYd) (width 0.1))
+ (fp_line (start 4.8 4.16) (end -22.8 4.16) (layer F.CrtYd) (width 0.1))
+ (fp_line (start -22.8 4.16) (end -22.8 -5.94) (layer F.CrtYd) (width 0.1))
+ (fp_line (start -21.575 -4.94) (end 3.575 -4.94) (layer F.SilkS) (width 0.1))
+ (fp_line (start -21.575 2.43) (end 3.575 2.43) (layer F.SilkS) (width 0.1))
+ (fp_line (start 0 3.06) (end 0 3.06) (layer F.SilkS) (width 0.1))
+ (fp_line (start 0 3.16) (end 0 3.16) (layer F.SilkS) (width 0.1))
+ (fp_arc (start 0 3.11) (end 0 3.16) (angle -180) (layer F.SilkS) (width 0.1))
+ (fp_arc (start 0 3.11) (end 0 3.06) (angle -180) (layer F.SilkS) (width 0.1))
+ (fp_text user %R (at -9 -0.89) (layer F.Fab)
+ (effects (font (size 1.27 1.27) (thickness 0.254)))
+ )
+ (pad MH4 np_thru_hole circle (at 3 -3.94) (size 1.07 0) (drill 1.07) (layers *.Cu *.Mask))
+ (pad MH3 np_thru_hole circle (at -21 -3.94) (size 1.07 0) (drill 1.07) (layers *.Cu *.Mask))
+ (pad "" np_thru_hole circle (at 2.15 -1.5) (size 2.46 2.46) (drill 2.46) (layers *.Cu *.Mask))
+ (pad "" np_thru_hole circle (at -20.15 -1.5) (size 2.46 2.46) (drill 2.46) (layers *.Cu *.Mask))
+ (pad 14 thru_hole circle (at -18 -3) (size 1.605 1.605) (drill 1.07) (layers *.Cu *.Mask))
+ (pad 13 thru_hole circle (at -15 -3) (size 1.605 1.605) (drill 1.07) (layers *.Cu *.Mask))
+ (pad 12 thru_hole circle (at -12 -3) (size 1.605 1.605) (drill 1.07) (layers *.Cu *.Mask))
+ (pad 11 thru_hole circle (at -9 -3) (size 1.605 1.605) (drill 1.07) (layers *.Cu *.Mask))
+ (pad 10 thru_hole circle (at -6 -3) (size 1.605 1.605) (drill 1.07) (layers *.Cu *.Mask))
+ (pad 9 thru_hole circle (at -3 -3) (size 1.605 1.605) (drill 1.07) (layers *.Cu *.Mask))
+ (pad 8 thru_hole circle (at 0 -3) (size 1.605 1.605) (drill 1.07) (layers *.Cu *.Mask))
+ (pad 7 thru_hole circle (at -18 0) (size 1.605 1.605) (drill 1.07) (layers *.Cu *.Mask))
+ (pad 6 thru_hole circle (at -15 0) (size 1.605 1.605) (drill 1.07) (layers *.Cu *.Mask))
+ (pad 5 thru_hole circle (at -12 0) (size 1.605 1.605) (drill 1.07) (layers *.Cu *.Mask))
+ (pad 4 thru_hole circle (at -9 0) (size 1.605 1.605) (drill 1.07) (layers *.Cu *.Mask))
+ (pad 3 thru_hole circle (at -6 0) (size 1.605 1.605) (drill 1.07) (layers *.Cu *.Mask))
+ (pad 2 thru_hole circle (at -3 0) (size 1.605 1.605) (drill 1.07) (layers *.Cu *.Mask))
+ (pad 1 thru_hole circle (at 0 0) (size 1.605 1.605) (drill 1.07) (layers *.Cu *.Mask))
+ (model 43045-1425.stp
+ (offset (xyz -8.999999864833629 1.460000016219966 4.959999963655235))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+ (model ${KIPRJMOD}/430451425.stp
+ (offset (xyz -9 1.5 5))
+ (scale (xyz 1 1 1))
+ (rotate (xyz 0 0 0))
+ )
+)
diff --git a/motors/RspPiPicoIMU/RspPiPicoIMU.pretty/PICO.kicad_mod b/motors/RspPiPicoIMU/RspPiPicoIMU.pretty/PICO.kicad_mod
new file mode 100644
index 0000000..9bf34b6
--- /dev/null
+++ b/motors/RspPiPicoIMU/RspPiPicoIMU.pretty/PICO.kicad_mod
@@ -0,0 +1,94 @@
+(module PICO (layer F.Cu) (tedit 0)
+ (descr PICO-2)
+ (tags Connector)
+ (attr smd)
+ (fp_text reference J** (at 10.5 -25.1) (layer F.SilkS)
+ (effects (font (size 1.27 1.27) (thickness 0.254)))
+ )
+ (fp_text value PICO (at 10.5 -25.1) (layer F.SilkS) hide
+ (effects (font (size 1.27 1.27) (thickness 0.254)))
+ )
+ (fp_arc (start -1.55 -49.7) (end -1.6 -49.7) (angle -180) (layer F.SilkS) (width 0.2))
+ (fp_arc (start -1.55 -49.7) (end -1.5 -49.7) (angle -180) (layer F.SilkS) (width 0.2))
+ (fp_arc (start -1.55 -49.7) (end -1.6 -49.7) (angle -180) (layer F.SilkS) (width 0.2))
+ (fp_text user %R (at 10.5 -25.1) (layer F.Fab)
+ (effects (font (size 1.27 1.27) (thickness 0.254)))
+ )
+ (fp_line (start 0 0) (end 21 0) (layer F.Fab) (width 0.2))
+ (fp_line (start 21 0) (end 21 -51) (layer F.Fab) (width 0.2))
+ (fp_line (start 21 -51) (end 0 -51) (layer F.Fab) (width 0.2))
+ (fp_line (start 0 -51) (end 0 0) (layer F.Fab) (width 0.2))
+ (fp_line (start -1.79 -52) (end 22.79 -52) (layer F.CrtYd) (width 0.1))
+ (fp_line (start 22.79 -52) (end 22.79 1.8) (layer F.CrtYd) (width 0.1))
+ (fp_line (start 22.79 1.8) (end -1.79 1.8) (layer F.CrtYd) (width 0.1))
+ (fp_line (start -1.79 1.8) (end -1.79 -52) (layer F.CrtYd) (width 0.1))
+ (fp_line (start 0 -51) (end 21 -51) (layer F.SilkS) (width 0.1))
+ (fp_line (start 21 -51) (end 21 -51) (layer F.SilkS) (width 0.1))
+ (fp_line (start 21 -51) (end 0 -51) (layer F.SilkS) (width 0.1))
+ (fp_line (start 0 -51) (end 0 -51) (layer F.SilkS) (width 0.1))
+ (fp_line (start 14.75 0) (end 21 0) (layer F.SilkS) (width 0.1))
+ (fp_line (start 21 0) (end 21 0) (layer F.SilkS) (width 0.1))
+ (fp_line (start 21 0) (end 14.75 0) (layer F.SilkS) (width 0.1))
+ (fp_line (start 14.75 0) (end 14.75 0) (layer F.SilkS) (width 0.1))
+ (fp_line (start 0 0) (end 6.5 0) (layer F.SilkS) (width 0.1))
+ (fp_line (start 6.5 0) (end 6.5 0) (layer F.SilkS) (width 0.1))
+ (fp_line (start 6.5 0) (end 0 0) (layer F.SilkS) (width 0.1))
+ (fp_line (start 0 0) (end 0 0) (layer F.SilkS) (width 0.1))
+ (fp_line (start -1.6 -49.7) (end -1.6 -49.7) (layer F.SilkS) (width 0.2))
+ (fp_line (start -1.5 -49.7) (end -1.5 -49.7) (layer F.SilkS) (width 0.2))
+ (fp_line (start -1.6 -49.7) (end -1.6 -49.7) (layer F.SilkS) (width 0.2))
+ (pad TP6 smd rect (at 8 -38 90) (size 1.5 1.5) (layers F.Cu F.Paste F.Mask))
+ (pad TP5 smd rect (at 8 -40.5 90) (size 1.5 1.5) (layers F.Cu F.Paste F.Mask))
+ (pad TP4 smd rect (at 8 -43 90) (size 1.5 1.5) (layers F.Cu F.Paste F.Mask))
+ (pad TP3 smd rect (at 9.5 -49.8 90) (size 1.5 1.5) (layers F.Cu F.Paste F.Mask))
+ (pad TP2 smd rect (at 11.5 -49.8 90) (size 1.5 1.5) (layers F.Cu F.Paste F.Mask))
+ (pad TP1 smd rect (at 10.5 -46.5 90) (size 1.5 1.5) (layers F.Cu F.Paste F.Mask))
+ (pad D3 smd rect (at 13.04 -0.8) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (pad D2 smd rect (at 10.5 -0.8) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (pad D1 smd rect (at 7.96 -0.8) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (pad 40 smd rect (at 20.19 -49.63 90) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (pad 39 smd rect (at 20.19 -47.09 90) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (pad 38 smd rect (at 20.19 -44.55 90) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (pad 37 smd rect (at 20.19 -42.01 90) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (pad 36 smd rect (at 20.19 -39.47 90) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (pad 35 smd rect (at 20.19 -36.93 90) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (pad 34 smd rect (at 20.19 -34.39 90) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (pad 33 smd rect (at 20.19 -31.85 90) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (pad 32 smd rect (at 20.19 -29.31 90) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (pad 31 smd rect (at 20.19 -26.77 90) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (pad 30 smd rect (at 20.19 -24.23 90) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (pad 29 smd rect (at 20.19 -21.69 90) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (pad 28 smd rect (at 20.19 -19.15 90) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (pad 27 smd rect (at 20.19 -16.61 90) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (pad 26 smd rect (at 20.19 -14.07 90) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (pad 25 smd rect (at 20.19 -11.53 90) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (pad 24 smd rect (at 20.19 -8.99 90) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (pad 23 smd rect (at 20.19 -6.45 90) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (pad 22 smd rect (at 20.19 -3.91 90) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (pad 21 smd rect (at 20.19 -1.37 90) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (pad 20 smd rect (at 0.81 -1.37 90) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (pad 19 smd rect (at 0.81 -3.91 90) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (pad 18 smd rect (at 0.81 -6.45 90) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (pad 17 smd rect (at 0.81 -8.99 90) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (pad 16 smd rect (at 0.81 -11.53 90) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (pad 15 smd rect (at 0.81 -14.07 90) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (pad 14 smd rect (at 0.81 -16.61 90) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (pad 13 smd rect (at 0.81 -19.15 90) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (pad 12 smd rect (at 0.81 -21.69 90) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (pad 11 smd rect (at 0.81 -24.23 90) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (pad 10 smd rect (at 0.81 -26.77 90) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (pad 9 smd rect (at 0.81 -29.31 90) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (pad 8 smd rect (at 0.81 -31.85 90) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (pad 7 smd rect (at 0.81 -34.39 90) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (pad 6 smd rect (at 0.81 -36.93 90) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (pad 5 smd rect (at 0.81 -39.47 90) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (pad 4 smd rect (at 0.81 -42.01 90) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (pad 3 smd rect (at 0.81 -44.55 90) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (pad 2 smd rect (at 0.81 -47.09 90) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (pad 1 smd rect (at 0.81 -49.63 90) (size 1.6 3.2) (layers F.Cu F.Paste F.Mask))
+ (model PICO.stp
+ (offset (xyz 0 0 0.5400000133476783))
+ (scale (xyz 1 1 1))
+ (rotate (xyz -90 0 0))
+ )
+)
diff --git a/motors/RspPiPicoIMU/RspPiPicoIMU.pretty/SC0915-PI-Pico.kicad_mod b/motors/RspPiPicoIMU/RspPiPicoIMU.pretty/SC0915-PI-Pico.kicad_mod
new file mode 100644
index 0000000..ad08ecf
--- /dev/null
+++ b/motors/RspPiPicoIMU/RspPiPicoIMU.pretty/SC0915-PI-Pico.kicad_mod
@@ -0,0 +1,355 @@
+(module SC0915-PI-Pico (layer F.Cu) (tedit 61B1AAED)
+ (fp_text reference REF** (at -7.0778 -35.3456) (layer F.SilkS)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_text value SC0915-PI-Pico (at -7.1286 -37.6824) (layer F.Fab)
+ (effects (font (size 1 1) (thickness 0.15)))
+ )
+ (fp_line (start -9.9 24.93518) (end -9.9 26.3052) (layer F.SilkS) (width 0.01))
+ (fp_line (start -9.9 26.3052) (end 7.16788 26.3052) (layer F.SilkS) (width 0.01))
+ (pad 1 smd custom (at -9.6901 -24.13) (size 1 1) (layers F.Cu F.Paste F.Mask)
+ (zone_connect 0)
+ (options (clearance outline) (anchor rect))
+ (primitives
+ (gr_line (start 0.8 0) (end 0 0) (width 1.6))
+ (gr_poly (pts
+ (xy 0.8 0.8) (xy -1.6 0.8) (xy -1.6 -0.8) (xy 0.8 -0.8)) (width 0.01))
+ ))
+ (pad 2 smd custom (at -9.6901 -21.59) (size 1 1) (layers F.Cu F.Paste F.Mask)
+ (zone_connect 0)
+ (options (clearance outline) (anchor rect))
+ (primitives
+ (gr_line (start 0.8 0) (end 0 0) (width 1.6))
+ (gr_poly (pts
+ (xy 0.8 0.8) (xy -1.6 0.8) (xy -1.6 -0.8) (xy 0.8 -0.8)) (width 0.01))
+ ))
+ (pad 4 smd custom (at -9.6901 -16.51) (size 1 1) (layers F.Cu F.Paste F.Mask)
+ (zone_connect 0)
+ (options (clearance outline) (anchor rect))
+ (primitives
+ (gr_line (start 0.8 0) (end 0 0) (width 1.6))
+ (gr_poly (pts
+ (xy 0.8 0.8) (xy -1.6 0.8) (xy -1.6 -0.8) (xy 0.8 -0.8)) (width 0.01))
+ ))
+ (pad 5 smd custom (at -9.6901 -13.97) (size 1 1) (layers F.Cu F.Paste F.Mask)
+ (zone_connect 0)
+ (options (clearance outline) (anchor rect))
+ (primitives
+ (gr_line (start 0.8 0) (end 0 0) (width 1.6))
+ (gr_poly (pts
+ (xy 0.8 0.8) (xy -1.6 0.8) (xy -1.6 -0.8) (xy 0.8 -0.8)) (width 0.01))
+ ))
+ (pad 6 smd custom (at -9.6901 -11.43) (size 1 1) (layers F.Cu F.Paste F.Mask)
+ (zone_connect 0)
+ (options (clearance outline) (anchor rect))
+ (primitives
+ (gr_line (start 0.8 0) (end 0 0) (width 1.6))
+ (gr_poly (pts
+ (xy 0.8 0.8) (xy -1.6 0.8) (xy -1.6 -0.8) (xy 0.8 -0.8)) (width 0.01))
+ ))
+ (pad 7 smd custom (at -9.6901 -8.89) (size 1 1) (layers F.Cu F.Paste F.Mask)
+ (zone_connect 0)
+ (options (clearance outline) (anchor rect))
+ (primitives
+ (gr_line (start 0.8 0) (end 0 0) (width 1.6))
+ (gr_poly (pts
+ (xy 0.8 0.8) (xy -1.6 0.8) (xy -1.6 -0.8) (xy 0.8 -0.8)) (width 0.01))
+ ))
+ (pad 9 smd custom (at -9.6901 -3.81) (size 1 1) (layers F.Cu F.Paste F.Mask)
+ (zone_connect 0)
+ (options (clearance outline) (anchor rect))
+ (primitives
+ (gr_line (start 0.8 0) (end 0 0) (width 1.6))
+ (gr_poly (pts
+ (xy 0.8 0.8) (xy -1.6 0.8) (xy -1.6 -0.8) (xy 0.8 -0.8)) (width 0.01))
+ ))
+ (pad 10 smd custom (at -9.6901 -1.27) (size 1 1) (layers F.Cu F.Paste F.Mask)
+ (zone_connect 0)
+ (options (clearance outline) (anchor rect))
+ (primitives
+ (gr_line (start 0.8 0) (end 0 0) (width 1.6))
+ (gr_poly (pts
+ (xy 0.8 0.8) (xy -1.6 0.8) (xy -1.6 -0.8) (xy 0.8 -0.8)) (width 0.01))
+ ))
+ (pad 11 smd custom (at -9.6901 1.27) (size 1 1) (layers F.Cu F.Paste F.Mask)
+ (zone_connect 0)
+ (options (clearance outline) (anchor rect))
+ (primitives
+ (gr_line (start 0.8 0) (end 0 0) (width 1.6))
+ (gr_poly (pts
+ (xy 0.8 0.8) (xy -1.6 0.8) (xy -1.6 -0.8) (xy 0.8 -0.8)) (width 0.01))
+ ))
+ (pad 12 smd custom (at -9.6901 3.81) (size 1 1) (layers F.Cu F.Paste F.Mask)
+ (zone_connect 0)
+ (options (clearance outline) (anchor rect))
+ (primitives
+ (gr_line (start 0.8 0) (end 0 0) (width 1.6))
+ (gr_poly (pts
+ (xy 0.8 0.8) (xy -1.6 0.8) (xy -1.6 -0.8) (xy 0.8 -0.8)) (width 0.01))
+ ))
+ (pad 14 smd custom (at -9.6901 8.89) (size 1 1) (layers F.Cu F.Paste F.Mask)
+ (zone_connect 0)
+ (options (clearance outline) (anchor rect))
+ (primitives
+ (gr_line (start 0.8 0) (end 0 0) (width 1.6))
+ (gr_poly (pts
+ (xy 0.8 0.8) (xy -1.6 0.8) (xy -1.6 -0.8) (xy 0.8 -0.8)) (width 0.01))
+ ))
+ (pad 15 smd custom (at -9.6901 11.43) (size 1 1) (layers F.Cu F.Paste F.Mask)
+ (zone_connect 0)
+ (options (clearance outline) (anchor rect))
+ (primitives
+ (gr_line (start 0.8 0) (end 0 0) (width 1.6))
+ (gr_poly (pts
+ (xy 0.8 0.8) (xy -1.6 0.8) (xy -1.6 -0.8) (xy 0.8 -0.8)) (width 0.01))
+ ))
+ (pad 16 smd custom (at -9.6901 13.97) (size 1 1) (layers F.Cu F.Paste F.Mask)
+ (zone_connect 0)
+ (options (clearance outline) (anchor rect))
+ (primitives
+ (gr_line (start 0.8 0) (end 0 0) (width 1.6))
+ (gr_poly (pts
+ (xy 0.8 0.8) (xy -1.6 0.8) (xy -1.6 -0.8) (xy 0.8 -0.8)) (width 0.01))
+ ))
+ (pad 17 smd custom (at -9.6901 16.51) (size 1 1) (layers F.Cu F.Paste F.Mask)
+ (zone_connect 0)
+ (options (clearance outline) (anchor rect))
+ (primitives
+ (gr_line (start 0.8 0) (end 0 0) (width 1.6))
+ (gr_poly (pts
+ (xy 0.8 0.8) (xy -1.6 0.8) (xy -1.6 -0.8) (xy 0.8 -0.8)) (width 0.01))
+ ))
+ (pad 19 smd custom (at -9.6901 21.59) (size 1 1) (layers F.Cu F.Paste F.Mask)
+ (zone_connect 0)
+ (options (clearance outline) (anchor rect))
+ (primitives
+ (gr_line (start 0.8 0) (end 0 0) (width 1.6))
+ (gr_poly (pts
+ (xy 0.8 0.8) (xy -1.6 0.8) (xy -1.6 -0.8) (xy 0.8 -0.8)) (width 0.01))
+ ))
+ (pad 20 smd custom (at -9.6901 24.13) (size 1 1) (layers F.Cu F.Paste F.Mask)
+ (zone_connect 0)
+ (options (clearance outline) (anchor rect))
+ (primitives
+ (gr_line (start 0.8 0) (end 0 0) (width 1.6))
+ (gr_poly (pts
+ (xy 0.8 0.8) (xy -1.6 0.8) (xy -1.6 -0.8) (xy 0.8 -0.8)) (width 0.01))
+ ))
+ (pad 21 smd custom (at 9.6899 24.13 180) (size 1 1) (layers F.Cu F.Paste F.Mask)
+ (zone_connect 0)
+ (options (clearance outline) (anchor rect))
+ (primitives
+ (gr_line (start 0.8 0) (end 0 0) (width 1.6))
+ (gr_poly (pts
+ (xy 0.8 0.8) (xy -1.6 0.8) (xy -1.6 -0.8) (xy 0.8 -0.8)) (width 0.01))
+ ))
+ (pad 22 smd custom (at 9.6899 21.59 180) (size 1 1) (layers F.Cu F.Paste F.Mask)
+ (zone_connect 0)
+ (options (clearance outline) (anchor rect))
+ (primitives
+ (gr_line (start 0.8 0) (end 0 0) (width 1.6))
+ (gr_poly (pts
+ (xy 0.8 0.8) (xy -1.6 0.8) (xy -1.6 -0.8) (xy 0.8 -0.8)) (width 0.01))
+ ))
+ (pad 24 smd custom (at 9.6899 16.51 180) (size 1 1) (layers F.Cu F.Paste F.Mask)
+ (zone_connect 0)
+ (options (clearance outline) (anchor rect))
+ (primitives
+ (gr_line (start 0.8 0) (end 0 0) (width 1.6))
+ (gr_poly (pts
+ (xy 0.8 0.8) (xy -1.6 0.8) (xy -1.6 -0.8) (xy 0.8 -0.8)) (width 0.01))
+ ))
+ (pad 25 smd custom (at 9.6899 13.97 180) (size 1 1) (layers F.Cu F.Paste F.Mask)
+ (zone_connect 0)
+ (options (clearance outline) (anchor rect))
+ (primitives
+ (gr_line (start 0.8 0) (end 0 0) (width 1.6))
+ (gr_poly (pts
+ (xy 0.8 0.8) (xy -1.6 0.8) (xy -1.6 -0.8) (xy 0.8 -0.8)) (width 0.01))
+ ))
+ (pad 26 smd custom (at 9.6899 11.43 180) (size 1 1) (layers F.Cu F.Paste F.Mask)
+ (zone_connect 0)
+ (options (clearance outline) (anchor rect))
+ (primitives
+ (gr_line (start 0.8 0) (end 0 0) (width 1.6))
+ (gr_poly (pts
+ (xy 0.8 0.8) (xy -1.6 0.8) (xy -1.6 -0.8) (xy 0.8 -0.8)) (width 0.01))
+ ))
+ (pad 27 smd custom (at 9.6899 8.89 180) (size 1 1) (layers F.Cu F.Paste F.Mask)
+ (zone_connect 0)
+ (options (clearance outline) (anchor rect))
+ (primitives
+ (gr_line (start 0.8 0) (end 0 0) (width 1.6))
+ (gr_poly (pts
+ (xy 0.8 0.8) (xy -1.6 0.8) (xy -1.6 -0.8) (xy 0.8 -0.8)) (width 0.01))
+ ))
+ (pad 29 smd custom (at 9.6899 3.81 180) (size 1 1) (layers F.Cu F.Paste F.Mask)
+ (zone_connect 0)
+ (options (clearance outline) (anchor rect))
+ (primitives
+ (gr_line (start 0.8 0) (end 0 0) (width 1.6))
+ (gr_poly (pts
+ (xy 0.8 0.8) (xy -1.6 0.8) (xy -1.6 -0.8) (xy 0.8 -0.8)) (width 0.01))
+ ))
+ (pad 30 smd custom (at 9.6899 1.27 180) (size 1 1) (layers F.Cu F.Paste F.Mask)
+ (zone_connect 0)
+ (options (clearance outline) (anchor rect))
+ (primitives
+ (gr_line (start 0.8 0) (end 0 0) (width 1.6))
+ (gr_poly (pts
+ (xy 0.8 0.8) (xy -1.6 0.8) (xy -1.6 -0.8) (xy 0.8 -0.8)) (width 0.01))
+ ))
+ (pad 31 smd custom (at 9.6899 -1.27 180) (size 1 1) (layers F.Cu F.Paste F.Mask)
+ (zone_connect 0)
+ (options (clearance outline) (anchor rect))
+ (primitives
+ (gr_line (start 0.8 0) (end 0 0) (width 1.6))
+ (gr_poly (pts
+ (xy 0.8 0.8) (xy -1.6 0.8) (xy -1.6 -0.8) (xy 0.8 -0.8)) (width 0.01))
+ ))
+ (pad 32 smd custom (at 9.6899 -3.81 180) (size 1 1) (layers F.Cu F.Paste F.Mask)
+ (zone_connect 0)
+ (options (clearance outline) (anchor rect))
+ (primitives
+ (gr_line (start 0.8 0) (end 0 0) (width 1.6))
+ (gr_poly (pts
+ (xy 0.8 0.8) (xy -1.6 0.8) (xy -1.6 -0.8) (xy 0.8 -0.8)) (width 0.01))
+ ))
+ (pad 34 smd custom (at 9.6899 -8.89 180) (size 1 1) (layers F.Cu F.Paste F.Mask)
+ (zone_connect 0)
+ (options (clearance outline) (anchor rect))
+ (primitives
+ (gr_line (start 0.8 0) (end 0 0) (width 1.6))
+ (gr_poly (pts
+ (xy 0.8 0.8) (xy -1.6 0.8) (xy -1.6 -0.8) (xy 0.8 -0.8)) (width 0.01))
+ ))
+ (pad 35 smd custom (at 9.6899 -11.43 180) (size 1 1) (layers F.Cu F.Paste F.Mask)
+ (zone_connect 0)
+ (options (clearance outline) (anchor rect))
+ (primitives
+ (gr_line (start 0.8 0) (end 0 0) (width 1.6))
+ (gr_poly (pts
+ (xy 0.8 0.8) (xy -1.6 0.8) (xy -1.6 -0.8) (xy 0.8 -0.8)) (width 0.01))
+ ))
+ (pad 36 smd custom (at 9.6899 -13.97 180) (size 1 1) (layers F.Cu F.Paste F.Mask)
+ (zone_connect 0)
+ (options (clearance outline) (anchor rect))
+ (primitives
+ (gr_line (start 0.8 0) (end 0 0) (width 1.6))
+ (gr_poly (pts
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diff --git a/motors/RspPiPicoIMU/RspPiPicoIMU.pro b/motors/RspPiPicoIMU/RspPiPicoIMU.pro
new file mode 100644
index 0000000..f2c04f8
--- /dev/null
+++ b/motors/RspPiPicoIMU/RspPiPicoIMU.pro
@@ -0,0 +1,268 @@
+update=Sat 18 Dec 2021 05:45:38 PM PST
+version=1
+last_client=kicad
+[general]
+version=1
+RootSch=
+BoardNm=
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+version=1
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+LibDir=
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+PageLayoutDescrFile=
+LastNetListRead=RspPiPicoIMU.net
+CopperLayerCount=4
+BoardThickness=1.6
+AllowMicroVias=0
+AllowBlindVias=0
+RequireCourtyardDefinitions=0
+ProhibitOverlappingCourtyards=1
+MinTrackWidth=0.2
+MinViaDiameter=0.4
+MinViaDrill=0.3
+MinMicroViaDiameter=0.2
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+MinHoleToHole=0.25
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+CopperLineWidth=0.2
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+[schematic_editor]
+version=1
+PageLayoutDescrFile=
+PlotDirectoryName=
+SubpartIdSeparator=0
+SubpartFirstId=65
+NetFmtName=Pcbnew
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diff --git a/motors/RspPiPicoIMU/RspPiPicoIMU.sch b/motors/RspPiPicoIMU/RspPiPicoIMU.sch
new file mode 100644
index 0000000..6f573ff
--- /dev/null
+++ b/motors/RspPiPicoIMU/RspPiPicoIMU.sch
@@ -0,0 +1,3557 @@
+EESchema Schematic File Version 4
+EELAYER 30 0
+EELAYER END
+$Descr B 17000 11000
+encoding utf-8
+Sheet 1 1
+Title "Raspberry Pi Pico IMU"
+Date "2021-12-16"
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+$Comp
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+F 2 "Package_SO:SO-14_3.9x8.65mm_P1.27mm" H 6300 850 50 0001 C CNN
+F 3 "https://www.ti.com/lit/ds/symlink/cd74act14.pdf?HQS=dis-dk-null-digikeymode-dsf-pf-null-wwe&ts=1639331938018&ref_url=https%253A%252F%252Fwww.ti.com%252Fgeneral%252Fdocs%252Fsuppproductinfo.tsp%253FdistId%253D10%2526gotoUrl%253Dhttps%253A%252F%252Fwww.ti.com%252Flit%252Fgpn%252Fcd74act14" H 6300 850 50 0001 C CNN
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+U 1 1 62540CB0
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+U 1 1 629C9A02
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+ 0 -1 -1 0
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+ 0 -1 -1 0
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+ -1 0 0 1
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+U 1 1 629C9A26
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+ -1 0 0 1
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+ -1 0 0 1
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+U 1 1 629C9A46
+P 11600 7300
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+ 1 11600 7300
+ -1 0 0 1
+$EndComp
+Wire Wire Line
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+$Comp
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+U 1 1 62BD6569
+P 12600 7650
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+ 0 -1 -1 0
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+U 1 1 62BD656F
+P 12600 7300
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+F 2 "Resistor_SMD:R_0805_2012Metric" V 12530 7300 50 0001 C CNN
+F 3 "~" H 12600 7300 50 0001 C CNN
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+ -1 0 0 1
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+Wire Wire Line
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+ 1 0 0 -1
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+ 1 0 0 -1
+$EndComp
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+ 1 0 0 -1
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+NoConn ~ 5800 1450
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+P 15400 8000
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+F 3 "https://www.mouser.com/datasheet/2/276/0022232041_PCB_HEADERS-526511.pdf" H 15400 8000 50 0001 C CNN
+F 4 "22-23-2041" H 15400 8000 50 0001 C CNN "P/N"
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+ 1 15400 8000
+ 1 0 0 -1
+$EndComp
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+U 1 1 63281BEC
+P 15400 6800
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+F 3 "https://www.mouser.com/datasheet/2/276/0022232041_PCB_HEADERS-526511.pdf" H 15400 6800 50 0001 C CNN
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+ 1 0 0 -1
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+U 1 1 63282B66
+P 15400 6200
+F 0 "J5" H 15578 5950 50 0000 L CNN
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+F 3 "https://www.mouser.com/datasheet/2/276/0022232041_PCB_HEADERS-526511.pdf" H 15400 6200 50 0001 C CNN
+F 4 "22-23-2041" H 15400 6200 50 0001 C CNN "P/N"
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+ 1 15400 6200
+ 1 0 0 -1
+$EndComp
+$Comp
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+U 1 1 6328AC61
+P 15400 4700
+F 0 "J3" H 15578 4450 50 0000 L CNN
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+F 3 "https://www.mouser.com/datasheet/2/276/0022232041_PCB_HEADERS-526511.pdf" H 15400 4700 50 0001 C CNN
+F 4 "22-23-2041" H 15400 4700 50 0001 C CNN "P/N"
+F 5 "Molex" H 15400 4700 50 0001 C CNN "MFG"
+ 1 15400 4700
+ 1 0 0 -1
+$EndComp
+$Comp
+L RspPiPicoIMU:4-PIN-VERT-MOLEX J2
+U 1 1 6328BC56
+P 15400 4200
+F 0 "J2" H 15578 3950 50 0000 L CNN
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diff --git a/motors/RspPiPicoIMU/fp-lib-table b/motors/RspPiPicoIMU/fp-lib-table
new file mode 100644
index 0000000..b7c523d
--- /dev/null
+++ b/motors/RspPiPicoIMU/fp-lib-table
@@ -0,0 +1,3 @@
+(fp_lib_table
+ (lib (name RspPiPicoIMU)(type KiCad)(uri ${KIPRJMOD}/RspPiPicoIMU.pretty)(options "")(descr ""))
+)
diff --git a/motors/RspPiPicoIMU/pi-pico-imu-gerbers/RspPiPicoIMU-B_Cu.gbl b/motors/RspPiPicoIMU/pi-pico-imu-gerbers/RspPiPicoIMU-B_Cu.gbl
new file mode 100644
index 0000000..4995bbc
--- /dev/null
+++ b/motors/RspPiPicoIMU/pi-pico-imu-gerbers/RspPiPicoIMU-B_Cu.gbl
@@ -0,0 +1,3661 @@
+G04 #@! TF.GenerationSoftware,KiCad,Pcbnew,5.1.12-84ad8e8a86~92~ubuntu20.04.1*
+G04 #@! TF.CreationDate,2021-12-18T18:34:38-08:00*
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+G04 #@! TA.AperFunction,ComponentPad*
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+G04 #@! TD*
+G04 #@! TA.AperFunction,WasherPad*
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+G04 #@! TA.AperFunction,Conductor*
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+G04 #@! TD*
+G04 #@! TA.AperFunction,Conductor*
+%ADD23C,0.381000*%
+G04 #@! TD*
+G04 APERTURE END LIST*
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+G04 #@! TD.AperFunction*
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+X165100000Y-110490000D03*
+X162560000Y-110490000D03*
+X160020000Y-110490000D03*
+G04 #@! TA.AperFunction,ComponentPad*
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+G75*
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+G01*
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+G04 #@! TD.AperFunction*
+X165100000Y-120650000D03*
+X162560000Y-120650000D03*
+X160020000Y-120650000D03*
+D12*
+X142240000Y-69850000D03*
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+G75*
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+G75*
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+G04 #@! TD.AperFunction*
+G04 #@! TA.AperFunction,SMDPad,CuDef*
+G36*
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+G04 #@! TA.AperFunction,SMDPad,CuDef*
+G36*
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+G04 #@! TD.AperFunction*
+G04 #@! TA.AperFunction,SMDPad,CuDef*
+G36*
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+G04 #@! TA.AperFunction,SMDPad,CuDef*
+G36*
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+G04 #@! TA.AperFunction,SMDPad,CuDef*
+G36*
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+G04 #@! TA.AperFunction,SMDPad,CuDef*
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+G04 #@! TD.AperFunction*
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+G01*
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+G04 #@! TD.AperFunction*
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+X155095000Y-80829998D02*
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+G04 #@! TD.AperFunction*
+G04 #@! TA.AperFunction,SMDPad,CuDef*
+G36*
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+X153270000Y-80829998D02*
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+G04 #@! TD.AperFunction*
+G04 #@! TA.AperFunction,SMDPad,CuDef*
+G36*
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+X153270000Y-75749998D02*
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+G04 #@! TA.AperFunction,SMDPad,CuDef*
+G36*
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+X155095000Y-75749998D02*
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+G04 #@! TD.AperFunction*
+G04 #@! TA.AperFunction,SMDPad,CuDef*
+G36*
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+G04 #@! TA.AperFunction,SMDPad,CuDef*
+G36*
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+G04 #@! TD.AperFunction*
+G04 #@! TA.AperFunction,SMDPad,CuDef*
+G36*
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+G04 #@! TD.AperFunction*
+G04 #@! TA.AperFunction,SMDPad,CuDef*
+G36*
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+X155095000Y-94799998D02*
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+G04 #@! TD.AperFunction*
+G04 #@! TA.AperFunction,SMDPad,CuDef*
+G36*
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+X155095000Y-110039998D02*
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+G04 #@! TD.AperFunction*
+G04 #@! TA.AperFunction,SMDPad,CuDef*
+G36*
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+G04 #@! TD.AperFunction*
+G04 #@! TA.AperFunction,SMDPad,CuDef*
+G36*
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+G04 #@! TD.AperFunction*
+G04 #@! TA.AperFunction,SMDPad,CuDef*
+G36*
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+G04 #@! TD.AperFunction*
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+G04 #@! TD.AperFunction*
+G04 #@! TA.AperFunction,SMDPad,CuDef*
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+G04 #@! TD.AperFunction*
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+G04 #@! TD.AperFunction*
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+G04 #@! TD.AperFunction*
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+G04 #@! TD.AperFunction*
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+G04 #@! TD.AperFunction*
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+G04 #@! TD.AperFunction*
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+G04 #@! TD.AperFunction*
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+G04 #@! TD.AperFunction*
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+G04 #@! TD.AperFunction*
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+G01*
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+G04 #@! TD.AperFunction*
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+G01*
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+G04 #@! TD.AperFunction*
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+X150310002Y-129140000I-249998J0D01*
+G01*
+G37*
+G04 #@! TD.AperFunction*
+G04 #@! TA.AperFunction,SMDPad,CuDef*
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+X155095000Y-115119998I0J-249998D01*
+G01*
+G37*
+G04 #@! TD.AperFunction*
+G04 #@! TA.AperFunction,SMDPad,CuDef*
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+G01*
+X153270000Y-115119998D02*
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+X153270000Y-115119998I0J-249998D01*
+G01*
+G37*
+G04 #@! TD.AperFunction*
+G04 #@! TA.AperFunction,SMDPad,CuDef*
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+G04 #@! TD.AperFunction*
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diff --git a/motors/RspPiPicoIMU/pi-pico-imu-gerbers/RspPiPicoIMU-B_Mask.gbs b/motors/RspPiPicoIMU/pi-pico-imu-gerbers/RspPiPicoIMU-B_Mask.gbs
new file mode 100644
index 0000000..ad85c52
--- /dev/null
+++ b/motors/RspPiPicoIMU/pi-pico-imu-gerbers/RspPiPicoIMU-B_Mask.gbs
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diff --git a/motors/RspPiPicoIMU/pi-pico-imu-gerbers/RspPiPicoIMU-B_Paste.gbp b/motors/RspPiPicoIMU/pi-pico-imu-gerbers/RspPiPicoIMU-B_Paste.gbp
new file mode 100644
index 0000000..6d2fc6d
--- /dev/null
+++ b/motors/RspPiPicoIMU/pi-pico-imu-gerbers/RspPiPicoIMU-B_Paste.gbp
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diff --git a/motors/RspPiPicoIMU/pi-pico-imu-gerbers/RspPiPicoIMU-B_SilkS.gbo b/motors/RspPiPicoIMU/pi-pico-imu-gerbers/RspPiPicoIMU-B_SilkS.gbo
new file mode 100644
index 0000000..a046da2
--- /dev/null
+++ b/motors/RspPiPicoIMU/pi-pico-imu-gerbers/RspPiPicoIMU-B_SilkS.gbo
@@ -0,0 +1,4027 @@
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index 0000000..0619d6e
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diff --git a/motors/RspPiPicoIMU/pi-pico-imu-gerbers/RspPiPicoIMU-F_Cu.gtl b/motors/RspPiPicoIMU/pi-pico-imu-gerbers/RspPiPicoIMU-F_Cu.gtl
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+G04 #@! TA.AperFunction,NonConductor*
+%ADD10C,0.300000*%
+G04 #@! TD*
+G04 #@! TA.AperFunction,SMDPad,CuDef*
+%ADD11C,0.560000*%
+G04 #@! TD*
+G04 #@! TA.AperFunction,SMDPad,CuDef*
+%ADD12R,2.500000X2.300000*%
+G04 #@! TD*
+G04 #@! TA.AperFunction,SMDPad,CuDef*
+%ADD13R,2.500000X1.800000*%
+G04 #@! TD*
+G04 #@! TA.AperFunction,SMDPad,CuDef*
+%ADD14R,3.300000X2.500000*%
+G04 #@! TD*
+G04 #@! TA.AperFunction,SMDPad,CuDef*
+%ADD15R,2.500000X3.300000*%
+G04 #@! TD*
+G04 #@! TA.AperFunction,ComponentPad*
+%ADD16O,1.740000X2.190000*%
+G04 #@! TD*
+G04 #@! TA.AperFunction,ComponentPad*
+%ADD17R,1.700000X1.700000*%
+G04 #@! TD*
+G04 #@! TA.AperFunction,ComponentPad*
+%ADD18O,1.700000X1.700000*%
+G04 #@! TD*
+G04 #@! TA.AperFunction,SMDPad,CuDef*
+%ADD19R,2.000000X3.800000*%
+G04 #@! TD*
+G04 #@! TA.AperFunction,SMDPad,CuDef*
+%ADD20R,2.000000X1.500000*%
+G04 #@! TD*
+G04 #@! TA.AperFunction,WasherPad*
+%ADD21C,2.460244*%
+G04 #@! TD*
+G04 #@! TA.AperFunction,ComponentPad*
+%ADD22C,1.605000*%
+G04 #@! TD*
+G04 #@! TA.AperFunction,ViaPad*
+%ADD23C,0.711200*%
+G04 #@! TD*
+G04 #@! TA.AperFunction,ViaPad*
+%ADD24C,1.066800*%
+G04 #@! TD*
+G04 #@! TA.AperFunction,ViaPad*
+%ADD25C,1.016000*%
+G04 #@! TD*
+G04 #@! TA.AperFunction,Conductor*
+%ADD26C,0.254000*%
+G04 #@! TD*
+G04 #@! TA.AperFunction,Conductor*
+%ADD27C,0.508000*%
+G04 #@! TD*
+G04 #@! TA.AperFunction,Conductor*
+%ADD28C,0.381000*%
+G04 #@! TD*
+G04 #@! TA.AperFunction,Conductor*
+%ADD29C,1.016000*%
+G04 #@! TD*
+G04 #@! TA.AperFunction,Conductor*
+%ADD30C,0.100000*%
+G04 #@! TD*
+G04 APERTURE END LIST*
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+G04 #@! TA.AperFunction,SMDPad,CuDef*
+G36*
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+X98150000Y-98910000D01*
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+G75*
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+G04 #@! TD.AperFunction*
+G04 #@! TA.AperFunction,SMDPad,CuDef*
+G36*
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+G04 #@! TD.AperFunction*
+G04 #@! TA.AperFunction,SMDPad,CuDef*
+G36*
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+X98150000Y-101750000D02*
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+G36*
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+G04 #@! TD.AperFunction*
+G04 #@! TA.AperFunction,SMDPad,CuDef*
+G36*
+G01*
+X137010000Y-120880000D02*
+X137310000Y-120880000D01*
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+G75*
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+G01*
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+G04 #@! TD.AperFunction*
+G04 #@! TA.AperFunction,SMDPad,CuDef*
+G36*
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+G75*
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+G01*
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+G04 #@! TD.AperFunction*
+G04 #@! TA.AperFunction,SMDPad,CuDef*
+G36*
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+G75*
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+G01*
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+G04 #@! TD.AperFunction*
+G04 #@! TA.AperFunction,SMDPad,CuDef*
+G36*
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+G75*
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+G01*
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+G04 #@! TD.AperFunction*
+G04 #@! TA.AperFunction,SMDPad,CuDef*
+G36*
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+G04 #@! TD.AperFunction*
+G04 #@! TA.AperFunction,SMDPad,CuDef*
+G36*
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+G04 #@! TD.AperFunction*
+G04 #@! TA.AperFunction,SMDPad,CuDef*
+G36*
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+G01*
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+G04 #@! TD.AperFunction*
+G04 #@! TA.AperFunction,SMDPad,CuDef*
+G36*
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+G04 #@! TD.AperFunction*
+G04 #@! TA.AperFunction,SMDPad,CuDef*
+G36*
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+G01*
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+G04 #@! TD.AperFunction*
+G04 #@! TA.AperFunction,SMDPad,CuDef*
+G36*
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+G01*
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+G04 #@! TD.AperFunction*
+G04 #@! TA.AperFunction,SMDPad,CuDef*
+G36*
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+G04 #@! TD.AperFunction*
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+G04 #@! TD.AperFunction*
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+G04 #@! TD.AperFunction*
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+G04 #@! TD.AperFunction*
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+G04 #@! TD.AperFunction*
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+G04 #@! TD.AperFunction*
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+G04 #@! TD.AperFunction*
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+G04 #@! TD.AperFunction*
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+G01*
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+G04 #@! TD.AperFunction*
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+G04 #@! TD.AperFunction*
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+G01*
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+G04 #@! TD.AperFunction*
+G04 #@! TA.AperFunction,SMDPad,CuDef*
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+G04 #@! TD.AperFunction*
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+G04 #@! TD.AperFunction*
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+G01*
+G37*
+G04 #@! TD.AperFunction*
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+G01*
+G37*
+G04 #@! TD.AperFunction*
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+G01*
+G37*
+G04 #@! TD.AperFunction*
+G04 #@! TA.AperFunction,SMDPad,CuDef*
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+G01*
+G37*
+G04 #@! TD.AperFunction*
+G04 #@! TA.AperFunction,SMDPad,CuDef*
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+X127840000Y-117325000I0J-150000D01*
+G01*
+G37*
+G04 #@! TD.AperFunction*
+G04 #@! TA.AperFunction,SMDPad,CuDef*
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+G04 #@! TA.AperFunction,SMDPad,CuDef*
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+G04 #@! TD.AperFunction*
+G04 #@! TA.AperFunction,SMDPad,CuDef*
+G36*
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+G04 #@! TA.AperFunction,SMDPad,CuDef*
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+G04 #@! TA.AperFunction,ComponentPad*
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+G04 #@! TD.AperFunction*
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+G04 #@! TD.AperFunction*
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+G04 #@! TD.AperFunction*
+M02*
diff --git a/motors/RspPiPicoIMU/pi-pico-imu-gerbers/RspPiPicoIMU-F_Mask.gts b/motors/RspPiPicoIMU/pi-pico-imu-gerbers/RspPiPicoIMU-F_Mask.gts
new file mode 100644
index 0000000..51579fb
--- /dev/null
+++ b/motors/RspPiPicoIMU/pi-pico-imu-gerbers/RspPiPicoIMU-F_Mask.gts
@@ -0,0 +1,4078 @@
+G04 #@! TF.GenerationSoftware,KiCad,Pcbnew,5.1.12-84ad8e8a86~92~ubuntu20.04.1*
+G04 #@! TF.CreationDate,2021-12-18T18:34:38-08:00*
+G04 #@! TF.ProjectId,RspPiPicoIMU,52737050-6950-4696-936f-494d552e6b69,1.0*
+G04 #@! TF.SameCoordinates,Original*
+G04 #@! TF.FileFunction,Soldermask,Top*
+G04 #@! TF.FilePolarity,Negative*
+%FSLAX46Y46*%
+G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
+G04 Created by KiCad (PCBNEW 5.1.12-84ad8e8a86~92~ubuntu20.04.1) date 2021-12-18 18:34:38*
+%MOMM*%
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+G01*
+G04 APERTURE LIST*
+%ADD10C,3.200000*%
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+%ADD12R,2.500000X2.300000*%
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+%ADD16O,1.740000X2.190000*%
+%ADD17R,1.700000X1.700000*%
+%ADD18O,1.700000X1.700000*%
+%ADD19R,2.000000X3.800000*%
+%ADD20R,2.000000X1.500000*%
+%ADD21C,2.460244*%
+%ADD22C,1.605000*%
+G04 APERTURE END LIST*
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diff --git a/motors/RspPiPicoIMU/pi-pico-imu-gerbers/RspPiPicoIMU-F_Paste.gtp b/motors/RspPiPicoIMU/pi-pico-imu-gerbers/RspPiPicoIMU-F_Paste.gtp
new file mode 100644
index 0000000..5548815
--- /dev/null
+++ b/motors/RspPiPicoIMU/pi-pico-imu-gerbers/RspPiPicoIMU-F_Paste.gtp
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diff --git a/motors/RspPiPicoIMU/pi-pico-imu-gerbers/RspPiPicoIMU-F_SilkS.gto b/motors/RspPiPicoIMU/pi-pico-imu-gerbers/RspPiPicoIMU-F_SilkS.gto
new file mode 100644
index 0000000..f9815ac
--- /dev/null
+++ b/motors/RspPiPicoIMU/pi-pico-imu-gerbers/RspPiPicoIMU-F_SilkS.gto
@@ -0,0 +1,8229 @@
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diff --git a/motors/RspPiPicoIMU/pi-pico-imu-gerbers/RspPiPicoIMU-In1_Cu.g2 b/motors/RspPiPicoIMU/pi-pico-imu-gerbers/RspPiPicoIMU-In1_Cu.g2
new file mode 100644
index 0000000..db98e20
--- /dev/null
+++ b/motors/RspPiPicoIMU/pi-pico-imu-gerbers/RspPiPicoIMU-In1_Cu.g2
@@ -0,0 +1,12200 @@
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diff --git a/motors/RspPiPicoIMU/pi-pico-imu-gerbers/RspPiPicoIMU-In2_Cu.g3 b/motors/RspPiPicoIMU/pi-pico-imu-gerbers/RspPiPicoIMU-In2_Cu.g3
new file mode 100644
index 0000000..3fb7d8b
--- /dev/null
+++ b/motors/RspPiPicoIMU/pi-pico-imu-gerbers/RspPiPicoIMU-In2_Cu.g3
@@ -0,0 +1,13478 @@
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diff --git a/motors/RspPiPicoIMU/pi-pico-imu-gerbers/RspPiPicoIMU-NPTH-drl_map.gbr b/motors/RspPiPicoIMU/pi-pico-imu-gerbers/RspPiPicoIMU-NPTH-drl_map.gbr
new file mode 100644
index 0000000..53da719
--- /dev/null
+++ b/motors/RspPiPicoIMU/pi-pico-imu-gerbers/RspPiPicoIMU-NPTH-drl_map.gbr
@@ -0,0 +1,1404 @@
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diff --git a/motors/RspPiPicoIMU/pi-pico-imu-gerbers/RspPiPicoIMU-PTH.drl b/motors/RspPiPicoIMU/pi-pico-imu-gerbers/RspPiPicoIMU-PTH.drl
new file mode 100644
index 0000000..d43257b
--- /dev/null
+++ b/motors/RspPiPicoIMU/pi-pico-imu-gerbers/RspPiPicoIMU-PTH.drl
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diff --git a/motors/RspPiPicoIMU/pi-pico-imu-gerbers/RspPiPicoIMU-bottom-pos.csv b/motors/RspPiPicoIMU/pi-pico-imu-gerbers/RspPiPicoIMU-bottom-pos.csv
new file mode 100644
index 0000000..8d0da69
--- /dev/null
+++ b/motors/RspPiPicoIMU/pi-pico-imu-gerbers/RspPiPicoIMU-bottom-pos.csv
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diff --git a/motors/RspPiPicoIMU/pi-pico-imu-gerbers/RspPiPicoIMU-top-pos.csv b/motors/RspPiPicoIMU/pi-pico-imu-gerbers/RspPiPicoIMU-top-pos.csv
new file mode 100644
index 0000000..5872218
--- /dev/null
+++ b/motors/RspPiPicoIMU/pi-pico-imu-gerbers/RspPiPicoIMU-top-pos.csv
@@ -0,0 +1,58 @@
+Ref,Val,Package,PosX,PosY,Rot,Side
+"C1","0.1uF","C_0805_2012Metric",0.725000,-0.850000,270.000000,top
+"C3","0.1uF","C_0805_2012Metric",1.050000,-0.850000,270.000000,top
+"C4","0.1uF","C_0805_2012Metric",1.527000,-0.675000,90.000000,top
+"C5","0.1uF","C_0805_2012Metric",1.170000,-1.970000,0.000000,top
+"C12","0.1uF","C_0805_2012Metric",1.175000,-2.400000,0.000000,top
+"C14","0.1uF","C_0805_2012Metric",1.175000,-2.125000,180.000000,top
+"D1","DR","LED_1206_3216Metric",0.225000,-1.950000,180.000000,top
+"D2","MOSI","LED_1206_3216Metric",0.225000,-1.850000,180.000000,top
+"D3","MISO","LED_1206_3216Metric",0.225000,-1.750000,180.000000,top
+"D4","SCK","LED_1206_3216Metric",0.225000,-2.050000,180.000000,top
+"D5","CS","LED_1206_3216Metric",0.225000,-2.150000,180.000000,top
+"D6","B240","D_SMB",1.425000,-2.550000,180.000000,top
+"D7","SMA6J5.0A","D_SMA",2.325000,-0.950000,180.000000,top
+"D8","SMA6J5.0A","D_SMA",2.325000,-0.750000,180.000000,top
+"D9","SMA6J5.0A","D_SMA",2.325000,-0.550000,180.000000,top
+"D10","SMA6J5.0A","D_SMA",2.325000,-0.350000,180.000000,top
+"D11","SMA6J5.0A","D_SMA",2.325000,-1.350000,180.000000,top
+"D12","SMA6J5.0A","D_SMA",2.325000,-1.150000,180.000000,top
+"D13","SMA6J5.0A","D_SMA",2.325000,-1.750000,180.000000,top
+"D14","SMA6J5.0A","D_SMA",2.325000,-1.550000,180.000000,top
+"D15","HDG","LED_1206_3216Metric",2.125000,-2.475000,270.000000,top
+"D16","RTE","LED_1206_3216Metric",1.925000,-2.475000,270.000000,top
+"D17","E2B","LED_1206_3216Metric",1.725000,-2.475000,270.000000,top
+"D18","E2A","LED_1206_3216Metric",1.825000,-2.475000,270.000000,top
+"D19","E1B","LED_1206_3216Metric",2.025000,-2.475000,270.000000,top
+"D20","E1A","LED_1206_3216Metric",2.225000,-2.475000,270.000000,top
+"D21","SMA6J5.0A","D_SMA",2.325000,-2.150000,180.000000,top
+"D22","SMA6J5.0A","D_SMA",2.325000,-1.950000,180.000000,top
+"D23","SMDJ5.0A","D_SMC",1.925000,-0.600000,90.000000,top
+"D24","RIO","LED_1206_3216Metric",2.325000,-2.475000,270.000000,top
+"D25","SMDJ5.0A","D_SMC",0.275000,-0.500000,0.000000,top
+"D26","PI PWR","LED_1206_3216Metric",0.225000,-2.250000,180.000000,top
+"R1","33R","R_0805_2012Metric",0.825000,-0.850000,270.000000,top
+"R8","33R","R_0805_2012Metric",1.150000,-0.850000,270.000000,top
+"R10","4.99k","R_0805_2012Metric",1.325000,-1.400000,0.000000,top
+"R11","33R","R_0805_2012Metric",1.325000,-1.500000,180.000000,top
+"R12","33R","R_0805_2012Metric",0.725000,-0.625000,270.000000,top
+"R13","33R","R_0805_2012Metric",1.325000,-1.200000,180.000000,top
+"R14","33R","R_0805_2012Metric",1.325000,-1.300000,180.000000,top
+"R15","33R","R_0805_2012Metric",0.550000,-1.175000,270.000000,top
+"R16","33R","R_0805_2012Metric",1.325000,-1.100000,180.000000,top
+"R17","33R","R_0805_2012Metric",1.325000,-0.900000,180.000000,top
+"R18","33R","R_0805_2012Metric",0.950000,-0.850000,270.000000,top
+"R20","33R","R_0805_2012Metric",1.325000,-1.000000,180.000000,top
+"R21","33R","R_0805_2012Metric",1.325000,-0.800000,180.000000,top
+"R26","4.99k","R_0805_2012Metric",1.325000,-1.600000,180.000000,top
+"U1","CD74ACT14M96","SO-14_3.9x8.65mm_P1.27mm",0.325000,-1.450000,0.000000,top
+"U2","ADM3490ARZ","SO-8_3.9x4.9mm_P1.27mm",0.880315,-0.610039,90.000000,top
+"U3","ADM3490ARZ","SO-8_3.9x4.9mm_P1.27mm",1.125000,-0.609055,90.000000,top
+"U5","ADIS16505-3BMLZ","BGA-100_10x10_15.0x15.0mm",0.925000,-1.425000,90.000000,top
+"U6","ADM3490ARZ","SO-8_3.9x4.9mm_P1.27mm",1.375000,-0.606102,90.000000,top
+"U7","ADUM1280ARZ","SO-8_3.9x4.9mm_P1.27mm",1.425000,-1.800000,180.000000,top
+"U8","CD74ACT14M96","SO-14_3.9x8.65mm_P1.27mm",1.875000,-1.550000,270.000000,top
+"U9","ADUM1280ARZ","SO-8_3.9x4.9mm_P1.27mm",1.425000,-2.050000,180.000000,top
+"U11","CD74ACT14M96","SO-14_3.9x8.65mm_P1.27mm",1.875000,-2.100000,270.000000,top
+"U12","ADUM1280ARZ","SO-8_3.9x4.9mm_P1.27mm",1.425000,-2.300000,0.000000,top
+"U13","AZ1117IH-3.3TRG1","SOT-223",0.275000,-0.900000,0.000000,top
diff --git a/motors/RspPiPicoIMU/pi-pico-imu-output/RspPiPicoIMU-FAB.pdf b/motors/RspPiPicoIMU/pi-pico-imu-output/RspPiPicoIMU-FAB.pdf
new file mode 100644
index 0000000..202a888
--- /dev/null
+++ b/motors/RspPiPicoIMU/pi-pico-imu-output/RspPiPicoIMU-FAB.pdf
Binary files differ
diff --git a/motors/RspPiPicoIMU/pi-pico-imu-output/RspPiPicoIMU-schematic-Rev1.pdf b/motors/RspPiPicoIMU/pi-pico-imu-output/RspPiPicoIMU-schematic-Rev1.pdf
new file mode 100644
index 0000000..ff47325
--- /dev/null
+++ b/motors/RspPiPicoIMU/pi-pico-imu-output/RspPiPicoIMU-schematic-Rev1.pdf
Binary files differ
diff --git a/motors/RspPiPicoIMU/sym-lib-table b/motors/RspPiPicoIMU/sym-lib-table
new file mode 100644
index 0000000..109a575
--- /dev/null
+++ b/motors/RspPiPicoIMU/sym-lib-table
@@ -0,0 +1,5 @@
+(sym_lib_table
+ (lib (name RspPiPicoIMU)(type Legacy)(uri ${KIPRJMOD}/RspPiPicoIMU.lib)(options "")(descr ""))
+ (lib (name RspPiPicoIMU-rescue)(type Legacy)(uri ${KIPRJMOD}/RspPiPicoIMU-rescue.lib)(options "")(descr ""))
+ (lib (name PICO)(type Legacy)(uri ${KIPRJMOD}/PICO.lib)(options "")(descr ""))
+)
diff --git a/motors/fet12/BUILD b/motors/fet12/BUILD
index ac9849b..be744b2 100644
--- a/motors/fet12/BUILD
+++ b/motors/fet12/BUILD
@@ -84,7 +84,7 @@
srcs = [
"calib_sensors.py",
],
- data = [
+ deps = [
"@python_repo//:scipy",
],
target_compatible_with = ["@platforms//os:linux"],
@@ -95,7 +95,7 @@
srcs = [
"current_equalize.py",
],
- data = [
+ deps = [
":calib_sensors",
"@python_repo//:scipy",
],
diff --git a/motors/packages/0430451400.fp b/motors/packages/0430451400.fp
new file mode 100644
index 0000000..6cc9b7b
--- /dev/null
+++ b/motors/packages/0430451400.fp
@@ -0,0 +1,39 @@
+Element["" "Connector" "J1" "" 0.0mm 0.0mm -13.209mm 7.375mm 0 100 ""]
+(
+ElementLine[3.828976mm 0mm 5.352976mm -0.635mm 0.254mm]
+ElementLine[5.352976mm -0.635mm 5.352976mm 0.635mm 0.254mm]
+ElementLine[5.352976mm 0.635mm 3.828976mm 0mm 0.254mm]
+ElementLine[-21.574973mm -3.320001mm -21.574973mm 8.92mm 0.254mm]
+ElementLine[-21.574973mm 8.92mm 3.574976mm 8.92mm 0.254mm]
+ElementLine[3.574976mm 8.92mm 3.574976mm -3.320001mm 0.254mm]
+ElementLine[3.574976mm -3.320001mm 1.031545mm -3.320001mm 0.254mm]
+ElementLine[-1.031545mm -3.320001mm -1.968454mm -3.320001mm 0.254mm]
+ElementLine[-4.031544mm -3.320001mm -4.968453mm -3.320001mm 0.254mm]
+ElementLine[-7.031543mm -3.320001mm -7.968452mm -3.320001mm 0.254mm]
+ElementLine[-10.031542mm -3.320001mm -10.968451mm -3.320001mm 0.254mm]
+ElementLine[-13.031541mm -3.320001mm -13.96845mm -3.320001mm 0.254mm]
+ElementLine[-16.031541mm -3.320001mm -16.968449mm -3.320001mm 0.254mm]
+ElementLine[-19.03154mm -3.320001mm -21.574973mm -3.320001mm 0.254mm]
+
+ Pin[0mm 0mm 62.0mil 0.508mm 72mil 1.02mm "1" "1" "square"]
+ Pin[-3mm 0mm 62.0mil 0.508mm 72mil 1.02mm "2" "2" ""]
+ Pin[-6mm 0mm 62.0mil 0.508mm 72mil 1.02mm "3" "3" ""]
+ Pin[-9mm 0mm 62.0mil 0.508mm 72mil 1.02mm "4" "4" ""]
+ Pin[-12mm 0.0mm 62.0mil 0.508mm 72mil 1.02mm "5" "5" ""]
+ Pin[-15mm 0.0mm 62.0mil 0.508mm 72mil 1.02mm "6" "6" ""]
+ Pin[-18mm 0.0mm 62.0mil 0.508mm 72mil 1.02mm "7" "7" ""]
+ Pin[0mm -3.0mm 62.0mil 0.508mm 72mil 1.02mm "8" "8" ""]
+ Pin[-3mm -3.0mm 62.0mil 0.508mm 72mil 1.02mm "9" "9" ""]
+ Pin[-6mm -3.0mm 62.0mil 0.508mm 72mil 1.02mm "10" "10" ""]
+ Pin[-9mm -3.0mm 62.0mil 0.508mm 72mil 1.02mm "11" "11" ""]
+ Pin[-12mm -3.0mm 62.0mil 0.508mm 72mil 1.02mm "12" "12" ""]
+ Pin[-15mm -3.0mm 62.0mil 0.508mm 72mil 1.02mm "13" "13" ""]
+ Pin[-18mm -3.0mm 62.0mil 0.508mm 72mil 1.02mm "14" "14" ""]
+
+ Pin[-2.14mm 4.32mm 2.41mm 0.508mm 3mm 3mm "" "" "hole"]
+ Pin[-15.84mm 4.32mm 2.41mm 0.508mm 3mm 3mm "" "" "hole"]
+
+
+ Attribute("description" "Connector, Molex, Micro-Fit 43045, 14 pins")
+ )
+
diff --git a/motors/packages/1206.fp b/motors/packages/1206.fp
new file mode 100644
index 0000000..5dd1ed3
--- /dev/null
+++ b/motors/packages/1206.fp
@@ -0,0 +1,11 @@
+# line radius (LR) depicts offset to pads lines and pad "band width"
+Element(0x00 "smd chip 1206" "" "SMD_CHIP 1206" 0 0 0 25 0x00)
+(
+ Pad(25 25 25 50 45 "" 0x100)
+ Pad(145 25 145 50 45 "" 0x100)
+ ElementLine(-10 -10 180 -10 5)
+ ElementLine(180 -10 180 86 5)
+ ElementLine(180 86 -10 86 5)
+ ElementLine(-10 86 -10 -10 5)
+ Mark(85 37.5)
+)
diff --git a/motors/packages/1824420000.fp b/motors/packages/1824420000.fp
new file mode 100644
index 0000000..ca40ec7
--- /dev/null
+++ b/motors/packages/1824420000.fp
@@ -0,0 +1,14 @@
+# This is the footprint for a Weidmuller 1824420000
+# (4 position Horizontal push in terminal block).
+Element[0x0 "" "" "" 0 0 0 0 0 100 0x0]
+(
+ Pin[-5.25mm 0 1.95mm 30mil 2.15mm 1.15mm "1" "1" ""]
+ Pin[-5.25mm 7mm 1.95mm 30mil 2.15mm 1.15mm "1" "1" ""]
+ Pin[-1.75mm 0 1.95mm 30mil 2.15mm 1.15mm "2" "2" ""]
+ Pin[-1.75mm 7mm 1.95mm 30mil 2.15mm 1.15mm "2" "2" ""]
+
+ ElementLine[-7.35mm -2mm 0.35mm -2mm 800]
+ ElementLine[0.35mm -2mm 0.35mm 10mm 800]
+ ElementLine[0.35mm 10mm -7.35mm 10mm 800]
+ ElementLine[-7.35mm -2mm -7.35mm 10mm 800]
+)
diff --git a/motors/packages/SOT223.fp b/motors/packages/SOT223.fp
new file mode 100644
index 0000000..0db8909
--- /dev/null
+++ b/motors/packages/SOT223.fp
@@ -0,0 +1,13 @@
+
+Element["" "SMT transistor, 4 pins" "" "SOT223" 57.00mil 334.00mil 253.00mil -329.00mil 3 100 ""]
+(
+ Pad[0.0000 -33.00mil 0.0000 33.00mil 56.00mil 30.00mil 62.00mil "1" "1" "square,edge2"]
+ Pad[90.00mil -33.00mil 90.00mil 33.00mil 56.00mil 30.00mil 62.00mil "2" "2" "square,edge2"]
+ Pad[181.00mil -33.00mil 181.00mil 33.00mil 56.00mil 30.00mil 62.00mil "3" "3" "selected,square,edge2"]
+ Pad[45.00mil -244.00mil 135.00mil -244.00mil 122.00mil 30.00mil 128.00mil "4" "4" "square"]
+ ElementLine [-52.00mil -329.00mil -52.00mil 85.00mil 10.00mil]
+ ElementLine [-52.00mil 85.00mil 233.00mil 85.00mil 10.00mil]
+ ElementLine [233.00mil 85.00mil 233.00mil -329.00mil 10.00mil]
+ ElementLine [233.00mil -329.00mil -52.00mil -329.00mil 10.00mil]
+
+ )
diff --git a/motors/packages/TO252AE.fp b/motors/packages/TO252AE.fp
new file mode 100644
index 0000000..1072768
--- /dev/null
+++ b/motors/packages/TO252AE.fp
@@ -0,0 +1,45 @@
+ # pad 1,2,3 width (1/100 mil)
+ # pad 1,2,3 length (1/100 mil)
+ # x value for pads 1,3 (1/100 mil)
+ # y value for pads 1,2,3 (1/100 mil)
+ # tab pad width (1/100 mil)
+ # ideally we would be able to have a polygon
+ # pad because the recommendation is a T shape where
+ # the width is 328 mil on the thinner part and 425 mil on the
+ # thicker part
+ # tab pad length (1/100 mil)
+ #define(`PADL2', `27500')
+ # x value for the tab pad (1/100 mil)
+ # y value for the tab pad (1/100 mil)
+ #define(`PADY2', `-21025')
+ # package width (1/100 mil)
+ # package height (1/100 mil)
+ # y values for drawing the pad. Recall we draw the pad with an aperture
+ # we need a line segment of length PADL1 - PADW1 so we have end points:
+ # PADY1 +/- 0.5*(PADL1 - PADW1)
+ # width of soldermask relief (5 mil on each side)
+ # silkscreen width (1/100 mils)
+ # clearance to polygons (1/100 mils)
+ # how much space to leave around the part before the
+ # silk screen (1/100 mils)
+ # X values for silk on sides and top
+ # X values for silk on sides and bottom
+# Element [SFlags "Desc" "Name" "Value" MX MY TX TY TDir TScale TSFlags]
+Element[ "" "Transistor" "" "TO252AE" 0 0 0 0 0 100 ""]
+(
+# Pad [rX1 rY1 rX2 rY2 Thickness Clearance Mask "Name" "Number" SFlags]
+# the signal pads
+Pad[ -9000 13200 -9000 11200 5500 2000 5200 "1" "1" "square"]
+#Pad[ 0 37500 0 30700 4100 2000 5200 "2" "2" "square"]
+Pad[ 9000 13200 9000 11200 5500 2000 5200 "3" "3" "square"]
+# the tab pad
+Pad[ 250 -10900 -250 -10900 23500 2000 22000 "4" "4" "square"]
+#Pad[ 17500 -24150 -17500 -24150 7500 2000 8500 "4" "4" "square"]
+# ElementLine[ x1 y1 x2 y2 width]
+# top and upper sides:
+ElementLine[ 14000 17450 14000 -24150 1000 ]
+ElementLine[ 14000 -24150 -14000 -24150 1000 ]
+ElementLine[ -14000 -24150 -14000 17450 1000 ]
+# bottom and lower sides
+ElementLine[ -14000 17450 14000 17450 1000 ]
+)
diff --git a/motors/packages/TO263-2.fp b/motors/packages/TO263-2.fp
index 45bae57..95e6463 100644
--- a/motors/packages/TO263-2.fp
+++ b/motors/packages/TO263-2.fp
@@ -29,22 +29,22 @@
(
# Pad [rX1 rY1 rX2 rY2 Thickness Clearance Mask "Name" "Number" SFlags]
# the signal pads
-Pad[ -10000 23175 -10000 18875 4200 2000 5200 "1" "1" "square"]
-#Pad[ 0 23175 0 18875 4200 2000 5200 "2" "2" "square"]
-Pad[ 10000 23175 10000 18875 4200 2000 5200 "3" "3" "square"]
+Pad[ -10000 37500 -10000 30700 4100 2000 5200 "1" "1" "square"]
+#Pad[ 0 37500 0 30700 4100 2000 5200 "2" "2" "square"]
+Pad[ 10000 37500 10000 30700 4100 2000 5200 "3" "3" "square"]
# the tab pad
-Pad[ 5900 -10900 -5900 -10900 21000 2000 22000 "4" "4" "square"]
-Pad[ 17500 -24150 -17500 -24150 7500 2000 8500 "4" "4" "square"]
+Pad[ 5000 -10900 -5000 -10900 35000 2000 22000 "4" "4" "square"]
+#Pad[ 17500 -24150 -17500 -24150 7500 2000 8500 "4" "4" "square"]
# ElementLine[ x1 y1 x2 y2 width]
# top and upper sides:
-ElementLine[ 22550 15475 22550 -29200 1000 ]
-ElementLine[ 22550 -29200 -22550 -29200 1000 ]
-ElementLine[ -22550 -29200 -22550 15475 1000 ]
+ElementLine[ 24000 27100 24000 -29900 1000 ]
+ElementLine[ 24000 -29900 -24000 -29900 1000 ]
+ElementLine[ -24000 -29900 -24000 27100 1000 ]
# bottom and lower sides
-ElementLine[ -15500 15475 -15500 26575 1000 ]
-ElementLine[ -15500 26575 15500 26575 1000 ]
-ElementLine[ 15500 26575 15500 15475 1000 ]
+ElementLine[ -15500 27100 -15500 41000 1000 ]
+ElementLine[ -15500 41000 15500 41000 1000 ]
+ElementLine[ 15500 41000 15500 27100 1000 ]
# and the two connecting lines
-ElementLine[ -22550 15475 -15500 15475 1000 ]
-ElementLine[ 22550 15475 15500 15475 1000 ]
+ElementLine[ -24000 27100 -15500 27100 1000 ]
+ElementLine[ 24000 27100 15500 27100 1000 ]
)
diff --git a/motors/python/BUILD b/motors/python/BUILD
index 90ab608..2b2b80b 100644
--- a/motors/python/BUILD
+++ b/motors/python/BUILD
@@ -3,9 +3,6 @@
srcs = [
"big_phase_current.py",
],
- data = [
- "@python_repo//:scipy",
- ],
legacy_create_init = False,
target_compatible_with = ["@platforms//cpu:x86_64"],
deps = [
@@ -14,6 +11,7 @@
"//external:python-glog",
"//frc971/control_loops/python:controls",
"@matplotlib_repo//:matplotlib3",
+ "@python_repo//:scipy",
],
)
diff --git a/motors/symbols/ADM3490ARZ.sym b/motors/symbols/ADM3490ARZ.sym
new file mode 100644
index 0000000..9485a1e
--- /dev/null
+++ b/motors/symbols/ADM3490ARZ.sym
@@ -0,0 +1,96 @@
+v 20130925 2
+B 300 0 1000 1400 3 0 0 0 -1 -1 0 -1 -1 -1 -1 -1
+P 0 900 300 900 1 0 0
+{
+T 0 900 5 10 0 0 0 0 1
+pintype=DI
+T 355 895 5 10 1 1 0 0 1
+pinlabel=DI
+T 205 945 5 10 1 1 0 6 1
+pinnumber=3
+T 0 900 5 10 0 0 0 0 1
+pinseq=3
+}
+P 0 200 300 200 1 0 0
+{
+T 0 200 5 10 0 0 0 0 1
+pintype=GND
+T 355 195 5 10 1 1 0 0 1
+pinlabel=GND
+T 205 245 5 10 1 1 0 6 1
+pinnumber=4
+T 0 200 5 10 0 0 0 0 1
+pinseq=4
+}
+P 0 1200 300 1200 1 0 0
+{
+T 0 1200 5 10 0 0 0 0 1
+pintype=RO
+T 355 1195 5 10 1 1 0 0 1
+pinlabel=RO
+T 205 1245 5 10 1 1 0 6 1
+pinnumber=2
+T 0 1200 5 10 0 0 0 0 1
+pinseq=2
+}
+P 0 500 300 500 1 0 0
+{
+T 0 500 5 10 0 0 0 0 1
+pintype=VCC
+T 355 495 5 10 1 1 0 0 1
+pinlabel=VCC
+T 205 545 5 10 1 1 0 6 1
+pinnumber=1
+T 0 500 5 10 0 0 0 0 1
+pinseq=1
+}
+P 1600 1200 1300 1200 1 0 0
+{
+T 1600 1200 5 10 0 0 0 0 1
+pintype=A
+T 1245 1195 5 10 1 1 0 6 1
+pinlabel=A
+T 1395 1245 5 10 1 1 0 0 1
+pinnumber=8
+T 1600 1200 5 10 0 0 0 0 1
+pinseq=8
+}
+P 1600 900 1300 900 1 0 0
+{
+T 1600 900 5 10 0 0 0 0 1
+pintype=B
+T 1245 895 5 10 1 1 0 6 1
+pinlabel=Bn
+T 1395 945 5 10 1 1 0 0 1
+pinnumber=7
+T 1600 900 5 10 0 0 0 0 1
+pinseq=7
+}
+P 1600 200 1300 200 1 0 0
+{
+T 1600 200 5 10 0 0 0 0 1
+pintype=Z
+T 1245 195 5 10 1 1 0 6 1
+pinlabel=Zn
+T 1395 245 5 10 1 1 0 0 1
+pinnumber=6
+T 1600 200 5 10 0 0 0 0 1
+pinseq=6
+}
+P 1600 500 1300 500 1 0 0
+{
+T 1600 500 5 10 0 0 0 0 1
+pintype=Y
+T 1245 495 5 10 1 1 0 6 1
+pinlabel=Y
+T 1395 545 5 10 1 1 0 0 1
+pinnumber=5
+T 1600 500 5 10 0 0 0 0 1
+pinseq=5
+}
+T 295 1500 8 10 1 1 0 0 1
+refdes=U?
+T -5 -100 8 10 0 1 0 0 1
+footprint=SO8
+T -5 -100 8 10 0 1 0 0 1
+model=ADM3490ARZ
diff --git a/motors/symbols/AZ1117IH-3-3TRG1.sym b/motors/symbols/AZ1117IH-3-3TRG1.sym
new file mode 100644
index 0000000..0ea708b
--- /dev/null
+++ b/motors/symbols/AZ1117IH-3-3TRG1.sym
@@ -0,0 +1,46 @@
+v 20130925 2
+B 200 200 1400 700 3 0 0 0 -1 -1 0 -1 -1 -1 -1 -1
+P 1800 700 1600 700 1 0 0
+{
+T 1800 700 5 10 0 0 0 0 1
+pintype=unknown
+T 1545 695 5 10 1 1 0 6 1
+pinlabel=VO
+T 1695 745 5 10 1 1 0 0 1
+pinnumber=2
+T 1800 700 5 10 0 0 0 0 1
+pinseq=0
+}
+P 1800 400 1600 400 1 0 0
+{
+T 1800 400 5 10 0 0 0 0 1
+pintype=unknown
+T 1545 395 5 10 1 1 0 6 1
+pinlabel=VO
+T 1695 445 5 10 1 1 0 0 1
+pinnumber=4
+T 1800 400 5 10 0 0 0 0 1
+pinseq=0
+}
+P 900 0 900 200 1 0 0
+{
+T 900 0 5 10 0 0 0 0 1
+pintype=unknown
+T 900 255 5 10 1 1 90 0 1
+pinlabel=GND
+T 850 105 5 10 1 1 90 6 1
+pinnumber=1
+T 900 0 5 10 0 0 0 0 1
+pinseq=0
+}
+P 0 700 200 700 1 0 0
+{
+T 0 700 5 10 0 0 0 0 1
+pintype=unknown
+T 255 695 5 10 1 1 0 0 1
+pinlabel=VI
+T 105 745 5 10 1 1 0 6 1
+pinnumber=3
+T 0 700 5 10 0 0 0 0 1
+pinseq=0
+}
diff --git a/motors/symbols/microfit-rt-2x7.sym b/motors/symbols/microfit-rt-2x7.sym
new file mode 100644
index 0000000..a1e82ea
--- /dev/null
+++ b/motors/symbols/microfit-rt-2x7.sym
@@ -0,0 +1,176 @@
+v 20130925 2
+P 400 3700 0 3700 1 0 1
+{
+T 1450 3650 5 8 1 1 0 0 1
+pinnumber=8
+T -1450 3650 5 8 0 0 0 0 1
+pinseq=2
+T -1450 3650 5 8 0 1 0 0 1
+pinlabel=2
+T -1450 3650 5 8 0 1 0 0 1
+pintype=pas
+}
+P 400 3100 0 3100 1 0 1
+{
+T 1450 3050 5 8 1 1 0 0 1
+pinnumber=9
+T -1450 3050 5 8 0 0 0 0 1
+pinseq=4
+T -1450 3050 5 8 0 1 0 0 1
+pinlabel=4
+T -1450 3050 5 8 0 1 0 0 1
+pintype=pas
+}
+P 400 2500 0 2500 1 0 1
+{
+T 1450 2450 5 8 1 1 0 0 1
+pinnumber=10
+T -1450 2450 5 8 0 0 0 0 1
+pinseq=6
+T -1450 2450 5 8 0 1 0 0 1
+pinlabel=6
+T -1450 2450 5 8 0 1 0 0 1
+pintype=pas
+}
+P 400 1900 0 1900 1 0 1
+{
+T 1450 1850 5 8 1 1 0 0 1
+pinnumber=11
+T -1450 1850 5 8 0 0 0 0 1
+pinseq=8
+T -1450 1850 5 8 0 1 0 0 1
+pinlabel=8
+T -1450 1850 5 8 0 1 0 0 1
+pintype=pas
+}
+P 400 4000 0 4000 1 0 1
+{
+T 1450 3950 5 8 1 1 0 0 1
+pinnumber=1
+T -1450 3950 5 8 0 0 0 0 1
+pinseq=1
+T -1450 3950 5 8 0 1 0 0 1
+pinlabel=1
+T -1450 3950 5 8 0 1 0 0 1
+pintype=pas
+}
+P 400 3400 0 3400 1 0 1
+{
+T 1450 3350 5 8 1 1 0 0 1
+pinnumber=2
+T -1450 3350 5 8 0 0 0 0 1
+pinseq=3
+T -1450 3350 5 8 0 1 0 0 1
+pinlabel=3
+T -1450 3350 5 8 0 1 0 0 1
+pintype=pas
+}
+P 400 2800 0 2800 1 0 1
+{
+T 1450 2750 5 8 1 1 0 0 1
+pinnumber=3
+T -1450 2750 5 8 0 0 0 0 1
+pinseq=5
+T -1450 2750 5 8 0 1 0 0 1
+pinlabel=5
+T -1450 2750 5 8 0 1 0 0 1
+pintype=pas
+}
+P 400 2200 0 2200 1 0 1
+{
+T 1450 2150 5 8 1 1 0 0 1
+pinnumber=4
+T -1450 2150 5 8 0 0 0 0 1
+pinseq=7
+T -1450 2150 5 8 0 1 0 0 1
+pinlabel=7
+T -1450 2150 5 8 0 1 0 0 1
+pintype=pas
+}
+P 400 1300 0 1300 1 0 1
+{
+T 1450 1250 5 8 1 1 0 0 1
+pinnumber=12
+T -1450 1250 5 8 0 0 0 0 1
+pinseq=10
+T -1450 1250 5 8 0 1 0 0 1
+pinlabel=10
+T -1450 1250 5 8 0 1 0 0 1
+pintype=pas
+}
+P 400 700 0 700 1 0 1
+{
+T 1450 650 5 8 1 1 0 0 1
+pinnumber=13
+T -1450 650 5 8 0 0 0 0 1
+pinseq=12
+T -1450 650 5 8 0 1 0 0 1
+pinlabel=12
+T -1450 650 5 8 0 1 0 0 1
+pintype=pas
+}
+P 400 100 0 100 1 0 1
+{
+T 1450 50 5 8 1 1 0 0 1
+pinnumber=14
+T -1450 50 5 8 0 0 0 0 1
+pinseq=14
+T -1450 50 5 8 0 1 0 0 1
+pinlabel=14
+T -1450 50 5 8 0 1 0 0 1
+pintype=pas
+}
+P 400 1600 0 1600 1 0 1
+{
+T 1450 1550 5 8 1 1 0 0 1
+pinnumber=5
+T -1450 1550 5 8 0 0 0 0 1
+pinseq=9
+T -1450 1550 5 8 0 1 0 0 1
+pinlabel=9
+T -1450 1550 5 8 0 1 0 0 1
+pintype=pas
+}
+P 400 1000 0 1000 1 0 1
+{
+T 1450 950 5 8 1 1 0 0 1
+pinnumber=6
+T -1450 950 5 8 0 0 0 0 1
+pinseq=11
+T -1450 950 5 8 0 1 0 0 1
+pinlabel=11
+T -1450 950 5 8 0 1 0 0 1
+pintype=pas
+}
+P 400 400 0 400 1 0 1
+{
+T 1450 350 5 8 1 1 0 0 1
+pinnumber=7
+T -1450 350 5 8 0 0 0 0 1
+pinseq=13
+T -1450 350 5 8 0 1 0 0 1
+pinlabel=13
+T -1450 350 5 8 0 1 0 0 1
+pintype=pas
+}
+L 1300 4000 400 4000 3 0 0 0 -1 -1
+L 1300 3700 400 3700 3 0 0 0 -1 -1
+L 1300 3400 400 3400 3 0 0 0 -1 -1
+L 1300 3100 400 3100 3 0 0 0 -1 -1
+L 1300 2800 400 2800 3 0 0 0 -1 -1
+L 1300 2500 400 2500 3 0 0 0 -1 -1
+L 1300 2200 400 2200 3 0 0 0 -1 -1
+L 1300 1900 400 1900 3 0 0 0 -1 -1
+L 1300 1600 400 1600 3 0 0 0 -1 -1
+L 1300 1300 400 1300 3 0 0 0 -1 -1
+L 1300 1000 400 1000 3 0 0 0 -1 -1
+L 1300 700 400 700 3 0 0 0 -1 -1
+L 1300 400 400 400 3 0 0 0 -1 -1
+L 1300 100 400 100 3 0 0 0 -1 -1
+T 700 2600 5 10 0 0 0 0 1
+device=CONNECTOR_15
+T 1200 4300 8 10 1 1 0 0 1
+refdes=CONN?
+B 1300 0 400 4100 3 0 0 0 -1 -1 0 -1 -1 -1 -1 -1
+T -1091 -1500 8 10 0 1 0 0 1
+footprint=0430451400
diff --git a/third_party/googletest/googlemock/test/BUILD.bazel b/third_party/googletest/googlemock/test/BUILD.bazel
index 2c3f5dc..882a423 100644
--- a/third_party/googletest/googlemock/test/BUILD.bazel
+++ b/third_party/googletest/googlemock/test/BUILD.bazel
@@ -107,7 +107,6 @@
":gmock_output_test_",
":gmock_output_test_golden.txt",
],
- python_version = "PY2",
tags = [
"no_test_msvc2015",
"no_test_msvc2017",
diff --git a/tools/bazel b/tools/bazel
index ef6372b..e72b44e 100755
--- a/tools/bazel
+++ b/tools/bazel
@@ -24,7 +24,7 @@
exec "${BAZEL_OVERRIDE}" "$@"
fi
-readonly VERSION="4.1.0"
+readonly VERSION="4.2.2"
readonly DOWNLOAD_DIR="${HOME}/.cache/bazel"
# Directory to unpack bazel into. This must change whenever bazel changes.
diff --git a/tools/go/BUILD b/tools/go/BUILD
new file mode 100644
index 0000000..ec8aa26
--- /dev/null
+++ b/tools/go/BUILD
@@ -0,0 +1,53 @@
+# This file exists to create a NOOP toolchain for Go on platforms that don't
+# support Go. We can probably get rid of this once
+# https://github.com/bazelbuild/bazel/issues/12897 is fixed.
+#
+# For platforms that do support Go, we use go_register_toolchain() in
+# WORKSPACE.
+
+load("@bazel_skylib//rules:write_file.bzl", "write_file")
+load("@io_bazel_rules_go//go:def.bzl", "go_sdk", "go_toolchain")
+
+write_file(
+ name = "noop_error_exit",
+ out = "noop_error_exit.sh",
+ content = [
+ "#!/bin/bash",
+ "echo 'This should never be executed. Something went wrong.' >&2",
+ "echo 'This NOOP Go toolchain should never be executed. Something went wrong.' >&2",
+ "echo 'Check that your target has `target_compatible_with` set to a platform that supports Go.' >&2",
+ "exit 1",
+ ],
+ is_executable = True,
+)
+
+go_sdk(
+ name = "noop_sdk",
+ go = ":noop_error_exit",
+ goarch = "none",
+ goos = "none",
+ root_file = "NOOP_FILE_THAT_DOES_NOT_EXIST",
+)
+
+go_toolchain(
+ name = "noop_go_toolchain_impl",
+ builder = ":noop_error_exit",
+ cgo_link_flags = None,
+ goarch = "none",
+ goos = "none",
+ link_flags = None,
+ sdk = ":noop_sdk",
+ tags = ["manual"],
+)
+
+toolchain(
+ name = "noop_go_toolchain",
+ exec_compatible_with = [
+ "@platforms//os:linux",
+ ],
+ target_compatible_with = [
+ "//tools/platforms/go:lacks_support",
+ ],
+ toolchain = ":noop_go_toolchain_impl",
+ toolchain_type = "@io_bazel_rules_go//go:toolchain",
+)
diff --git a/tools/platforms/BUILD b/tools/platforms/BUILD
index 65563bf..4aa3db3 100644
--- a/tools/platforms/BUILD
+++ b/tools/platforms/BUILD
@@ -5,6 +5,7 @@
constraint_values = [
"@platforms//os:linux",
"@platforms//cpu:x86_64",
+ "//tools/platforms/go:has_support",
],
)
@@ -14,6 +15,7 @@
"@platforms//os:linux",
"@platforms//cpu:armv7",
"//tools/platforms/hardware:raspberry_pi",
+ "//tools/platforms/go:lacks_support",
],
)
@@ -22,6 +24,7 @@
constraint_values = [
"@platforms//os:linux",
"@platforms//cpu:arm64",
+ "//tools/platforms/go:lacks_support",
],
)
@@ -31,6 +34,7 @@
"@platforms//os:linux",
"@platforms//cpu:armv7",
"//tools/platforms/hardware:roborio",
+ "//tools/platforms/go:lacks_support",
],
)
@@ -39,6 +43,7 @@
constraint_values = [
"@platforms//os:none",
"//tools/platforms/hardware:cortex_m4f",
+ "//tools/platforms/go:lacks_support",
],
)
diff --git a/tools/platforms/go/BUILD b/tools/platforms/go/BUILD
new file mode 100644
index 0000000..5936287
--- /dev/null
+++ b/tools/platforms/go/BUILD
@@ -0,0 +1,13 @@
+package(default_visibility = ["//visibility:public"])
+
+constraint_setting(name = "go_support")
+
+constraint_value(
+ name = "has_support",
+ constraint_setting = ":go_support",
+)
+
+constraint_value(
+ name = "lacks_support",
+ constraint_setting = ":go_support",
+)
diff --git a/tools/python/BUILD b/tools/python/BUILD
index 2181b31..32093d3 100644
--- a/tools/python/BUILD
+++ b/tools/python/BUILD
@@ -1,9 +1,31 @@
+load("@rules_python//python:defs.bzl", "py_runtime_pair")
+
py_runtime(
- name = "runtime",
+ name = "python3_runtime",
files = [
"runtime_binary.sh",
"@python_repo//:all_files",
],
interpreter = "runtime_binary.sh",
- visibility = ["//visibility:public"],
+ python_version = "PY3",
+)
+
+py_runtime_pair(
+ name = "py_runtime",
+ py2_runtime = None,
+ py3_runtime = ":python3_runtime",
+)
+
+toolchain(
+ name = "python_toolchain",
+ target_compatible_with = [
+ "@platforms//cpu:x86_64",
+ "@platforms//os:linux",
+ ],
+ exec_compatible_with = [
+ "@platforms//cpu:x86_64",
+ "@platforms//os:linux",
+ ],
+ toolchain = ":py_runtime",
+ toolchain_type = "@rules_python//python:toolchain_type",
)
diff --git a/tools/python/runtime_binary.sh b/tools/python/runtime_binary.sh
index 8380424..9cd1519 100755
--- a/tools/python/runtime_binary.sh
+++ b/tools/python/runtime_binary.sh
@@ -36,4 +36,5 @@
export LD_LIBRARY_PATH="${BASE_PATH}/usr/lib/lapack:${BASE_PATH}/usr/lib/libblas:${BASE_PATH}/usr/lib/x86_64-linux-gnu"
-exec "$BASE_PATH"/usr/bin/python3 "$@"
+# Prevent Python from importing the host's installed packages.
+exec "$BASE_PATH"/usr/bin/python3 -sS "$@"
diff --git a/y2012/BUILD b/y2012/BUILD
deleted file mode 100644
index ddcdb43..0000000
--- a/y2012/BUILD
+++ /dev/null
@@ -1,77 +0,0 @@
-load("//frc971:downloader.bzl", "robot_downloader")
-
-cc_binary(
- name = "joystick_reader",
- srcs = [
- "joystick_reader.cc",
- ],
- target_compatible_with = ["@platforms//os:linux"],
- deps = [
- "//aos:init",
- "//aos/actions:action_lib",
- "//aos/logging",
- "//aos/time",
- "//aos/util:log_interval",
- "//frc971/autonomous:auto_fbs",
- "//frc971/control_loops:control_loops_fbs",
- "//frc971/control_loops/drivetrain:drivetrain_goal_fbs",
- "//frc971/control_loops/drivetrain:spline_goal_fbs",
- "//frc971/input:joystick_input",
- "//y2012/control_loops/accessories:accessories_fbs",
- ],
-)
-
-robot_downloader(
- start_binaries = [
- ":joystick_reader",
- ":wpilib_interface",
- "//y2012/control_loops/drivetrain",
- "//y2012/control_loops/accessories",
- ],
- target_compatible_with = ["@platforms//os:linux"],
-)
-
-cc_binary(
- name = "wpilib_interface",
- srcs = [
- "wpilib_interface.cc",
- ],
- target_compatible_with = ["//tools/platforms/hardware:roborio"],
- deps = [
- "//aos:init",
- "//aos/events:shm_event_loop",
- "//aos/logging",
- "//aos/stl_mutex",
- "//aos/time",
- "//aos/util:log_interval",
- "//aos/util:phased_loop",
- "//aos/util:wrapping_counter",
- "//frc971/control_loops:control_loop",
- "//frc971/control_loops:control_loops_fbs",
- "//frc971/control_loops/drivetrain:drivetrain_output_fbs",
- "//frc971/control_loops/drivetrain:drivetrain_position_fbs",
- "//frc971/input:robot_state_fbs",
- "//frc971/wpilib:buffered_pcm",
- "//frc971/wpilib:dma",
- "//frc971/wpilib:dma_edge_counting",
- "//frc971/wpilib:drivetrain_writer",
- "//frc971/wpilib:encoder_and_potentiometer",
- "//frc971/wpilib:interrupt_edge_counting",
- "//frc971/wpilib:joystick_sender",
- "//frc971/wpilib:logging_fbs",
- "//frc971/wpilib:loop_output_handler",
- "//frc971/wpilib:sensor_reader",
- "//frc971/wpilib:wpilib_interface",
- "//frc971/wpilib:wpilib_robot_base",
- "//third_party:wpilib",
- "//y2012/control_loops:control_loop_fbs",
- "//y2012/control_loops/accessories:accessories_fbs",
- ],
-)
-
-py_library(
- name = "python_init",
- srcs = ["__init__.py"],
- target_compatible_with = ["@platforms//os:linux"],
- visibility = ["//visibility:public"],
-)
diff --git a/y2012/__init__.py b/y2012/__init__.py
deleted file mode 100644
index e69de29..0000000
--- a/y2012/__init__.py
+++ /dev/null
diff --git a/y2012/control_loops/BUILD b/y2012/control_loops/BUILD
deleted file mode 100644
index ef4e03f..0000000
--- a/y2012/control_loops/BUILD
+++ /dev/null
@@ -1,18 +0,0 @@
-load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
-
-py_library(
- name = "python_init",
- srcs = ["__init__.py"],
- target_compatible_with = ["@platforms//os:linux"],
- visibility = ["//visibility:public"],
- deps = ["//y2012:python_init"],
-)
-
-flatbuffer_cc_library(
- name = "control_loop_fbs",
- srcs = [
- "control_loops.fbs",
- ],
- target_compatible_with = ["@platforms//os:linux"],
- visibility = ["//y2012:__subpackages__"],
-)
diff --git a/y2012/control_loops/__init__.py b/y2012/control_loops/__init__.py
deleted file mode 100644
index e69de29..0000000
--- a/y2012/control_loops/__init__.py
+++ /dev/null
diff --git a/y2012/control_loops/accessories/BUILD b/y2012/control_loops/accessories/BUILD
deleted file mode 100644
index ee61511..0000000
--- a/y2012/control_loops/accessories/BUILD
+++ /dev/null
@@ -1,25 +0,0 @@
-package(default_visibility = ["//visibility:public"])
-
-load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
-
-cc_binary(
- name = "accessories",
- srcs = [
- "accessories.cc",
- ],
- target_compatible_with = ["@platforms//os:linux"],
- deps = [
- ":accessories_fbs",
- "//aos:init",
- "//frc971/control_loops:control_loop",
- "//y2012/control_loops:control_loop_fbs",
- ],
-)
-
-flatbuffer_cc_library(
- name = "accessories_fbs",
- srcs = [
- "accessories.fbs",
- ],
- target_compatible_with = ["@platforms//os:linux"],
-)
diff --git a/y2012/control_loops/accessories/accessories.cc b/y2012/control_loops/accessories/accessories.cc
deleted file mode 100644
index c71146e..0000000
--- a/y2012/control_loops/accessories/accessories.cc
+++ /dev/null
@@ -1,60 +0,0 @@
-#include "aos/events/shm_event_loop.h"
-#include "aos/init.h"
-#include "frc971/control_loops/control_loop.h"
-#include "y2012/control_loops/accessories/accessories_generated.h"
-#include "y2012/control_loops/control_loops_generated.h"
-
-namespace y2012 {
-namespace control_loops {
-namespace accessories {
-
-class AccessoriesLoop : public ::frc971::controls::ControlLoop<
- Message, ::aos::control_loops::Position,
- ::aos::control_loops::Status, Message> {
- public:
- explicit AccessoriesLoop(
- ::aos::EventLoop *event_loop,
- const ::std::string &name = ".y2012.control_loops.accessories_queue")
- : ::frc971::controls::ControlLoop<Message, ::aos::control_loops::Position,
- ::aos::control_loops::Status, Message>(
- event_loop, name) {}
-
- void RunIteration(const Message *goal,
- const ::aos::control_loops::Position * /*position*/,
- ::aos::Sender<Message>::Builder *output,
- ::aos::Sender<::aos::control_loops::Status>::Builder
- * /*status*/) override {
- if (output) {
- //*output = *goal;
- Message::Builder output_builder = output->MakeBuilder<Message>();
- flatbuffers::Offset<flatbuffers::Vector<uint8_t>> solenoid_offset =
- output->fbb()->template CreateVector<uint8_t>(
- goal->solenoids()->data(), 3);
- output_builder.add_solenoids(solenoid_offset);
- flatbuffers::Offset<flatbuffers::Vector<double>> stick_offset =
- output->fbb()->template CreateVector<double>(goal->sticks()->data(),
- 2);
- output_builder.add_sticks(stick_offset);
-
- output_builder.Finish();
- }
- }
-};
-
-} // namespace accessories
-} // namespace control_loops
-} // namespace y2012
-
-int main(int argc, char **argv) {
- ::aos::InitGoogle(&argc, &argv);
-
- aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
-
- ::aos::ShmEventLoop event_loop(&config.message());
- ::y2012::control_loops::accessories::AccessoriesLoop accessories(&event_loop);
-
- event_loop.Run();
-
- return 0;
-}
diff --git a/y2012/control_loops/accessories/accessories.fbs b/y2012/control_loops/accessories/accessories.fbs
deleted file mode 100644
index 0840da4..0000000
--- a/y2012/control_loops/accessories/accessories.fbs
+++ /dev/null
@@ -1,8 +0,0 @@
-namespace y2012.control_loops.accessories;
-
-table Message {
- solenoids:[bool] (id: 0); // Exactly 3 values
- sticks:[double] (id: 1); // Exactly 2 values
-}
-
-root_type Message;
diff --git a/y2012/control_loops/control_loops.fbs b/y2012/control_loops/control_loops.fbs
deleted file mode 100644
index be5b7db..0000000
--- a/y2012/control_loops/control_loops.fbs
+++ /dev/null
@@ -1,24 +0,0 @@
-namespace aos.control_loops;
-// This file defines basic messages for a Single Input Single Output (SISO)
-// control loop.
-
-table Goal {
- goal:double (id: 0);
-}
-
-table Position {
- position:double (id: 0);
-}
-
-table Output {
- voltage:double (id: 0);
-}
-
-table Status {
- done:bool (id: 0);
-}
-
-root_type Goal;
-root_type Position;
-root_type Output;
-root_type Status;
diff --git a/y2012/control_loops/drivetrain/BUILD b/y2012/control_loops/drivetrain/BUILD
deleted file mode 100644
index cd575ea..0000000
--- a/y2012/control_loops/drivetrain/BUILD
+++ /dev/null
@@ -1,87 +0,0 @@
-package(default_visibility = ["//visibility:public"])
-
-genrule(
- name = "genrule_drivetrain",
- outs = [
- "drivetrain_dog_motor_plant.h",
- "drivetrain_dog_motor_plant.cc",
- "kalman_drivetrain_motor_plant.h",
- "kalman_drivetrain_motor_plant.cc",
- ],
- cmd = "$(location //y2012/control_loops/python:drivetrain) $(OUTS)",
- target_compatible_with = ["@platforms//os:linux"],
- tools = [
- "//y2012/control_loops/python:drivetrain",
- ],
- visibility = ["//visibility:private"],
-)
-
-genrule(
- name = "genrule_polydrivetrain",
- outs = [
- "polydrivetrain_dog_motor_plant.h",
- "polydrivetrain_dog_motor_plant.cc",
- "polydrivetrain_cim_plant.h",
- "polydrivetrain_cim_plant.cc",
- "hybrid_velocity_drivetrain.h",
- "hybrid_velocity_drivetrain.cc",
- ],
- cmd = "$(location //y2012/control_loops/python:polydrivetrain) $(OUTS)",
- target_compatible_with = ["@platforms//os:linux"],
- tools = [
- "//y2012/control_loops/python:polydrivetrain",
- ],
- visibility = ["//visibility:private"],
-)
-
-cc_library(
- name = "polydrivetrain_plants",
- srcs = [
- "drivetrain_dog_motor_plant.cc",
- "hybrid_velocity_drivetrain.cc",
- "kalman_drivetrain_motor_plant.cc",
- "polydrivetrain_dog_motor_plant.cc",
- ],
- hdrs = [
- "drivetrain_dog_motor_plant.h",
- "hybrid_velocity_drivetrain.h",
- "kalman_drivetrain_motor_plant.h",
- "polydrivetrain_dog_motor_plant.h",
- ],
- target_compatible_with = ["@platforms//os:linux"],
- deps = [
- "//frc971/control_loops:hybrid_state_feedback_loop",
- "//frc971/control_loops:state_feedback_loop",
- ],
-)
-
-cc_library(
- name = "drivetrain_base",
- srcs = [
- "drivetrain_base.cc",
- ],
- hdrs = [
- "drivetrain_base.h",
- ],
- target_compatible_with = ["@platforms//os:linux"],
- deps = [
- ":polydrivetrain_plants",
- "//frc971:shifter_hall_effect",
- "//frc971/control_loops/drivetrain:drivetrain_config",
- "//y2016:constants",
- ],
-)
-
-cc_binary(
- name = "drivetrain",
- srcs = [
- "drivetrain_main.cc",
- ],
- target_compatible_with = ["@platforms//os:linux"],
- deps = [
- ":drivetrain_base",
- "//aos:init",
- "//aos/events:shm_event_loop",
- "//frc971/control_loops/drivetrain:drivetrain_lib",
- ],
-)
diff --git a/y2012/control_loops/drivetrain/drivetrain_base.cc b/y2012/control_loops/drivetrain/drivetrain_base.cc
deleted file mode 100644
index 40f4d24..0000000
--- a/y2012/control_loops/drivetrain/drivetrain_base.cc
+++ /dev/null
@@ -1,59 +0,0 @@
-#include "y2012/control_loops/drivetrain/drivetrain_base.h"
-
-#include <chrono>
-
-#include "frc971/control_loops/drivetrain/drivetrain_config.h"
-#include "frc971/control_loops/state_feedback_loop.h"
-#include "y2012/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
-#include "y2012/control_loops/drivetrain/kalman_drivetrain_motor_plant.h"
-#include "y2012/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
-#include "y2012/control_loops/drivetrain/hybrid_velocity_drivetrain.h"
-
-using ::frc971::control_loops::drivetrain::DrivetrainConfig;
-
-namespace chrono = ::std::chrono;
-
-namespace y2012 {
-namespace control_loops {
-namespace drivetrain {
-
-using ::frc971::constants::ShifterHallEffect;
-
-const ShifterHallEffect kThreeStateDriveShifter{0.0, 0.0, 0.25, 0.75};
-
-const DrivetrainConfig<double> &GetDrivetrainConfig() {
- static DrivetrainConfig<double> kDrivetrainConfig{
- ::frc971::control_loops::drivetrain::ShifterType::NO_SHIFTER,
- ::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
- ::frc971::control_loops::drivetrain::GyroType::SPARTAN_GYRO,
- ::frc971::control_loops::drivetrain::IMUType::IMU_X,
-
- drivetrain::MakeDrivetrainLoop,
- drivetrain::MakeVelocityDrivetrainLoop,
- drivetrain::MakeKFDrivetrainLoop,
- drivetrain::MakeHybridVelocityDrivetrainLoop,
-
- chrono::duration_cast<chrono::nanoseconds>(
- chrono::duration<double>(drivetrain::kDt)),
- drivetrain::kRobotRadius,
- drivetrain::kWheelRadius,
- drivetrain::kV,
-
- drivetrain::kHighGearRatio,
- drivetrain::kLowGearRatio,
- drivetrain::kJ,
- drivetrain::kMass,
- kThreeStateDriveShifter,
- kThreeStateDriveShifter,
- true /* default_high_gear */,
- 0.0,
- 0.4 /* wheel_non_linearity */,
- 1.0 /* quickturn_wheel_multiplier */,
- 1.0 /* wheel_multiplier */};
-
- return kDrivetrainConfig;
-};
-
-} // namespace drivetrain
-} // namespace control_loops
-} // namespace y2012
diff --git a/y2012/control_loops/drivetrain/drivetrain_base.h b/y2012/control_loops/drivetrain/drivetrain_base.h
deleted file mode 100644
index f5675a8..0000000
--- a/y2012/control_loops/drivetrain/drivetrain_base.h
+++ /dev/null
@@ -1,17 +0,0 @@
-#ifndef Y2012_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
-#define Y2012_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
-
-#include "frc971/control_loops/drivetrain/drivetrain_config.h"
-
-namespace y2012 {
-namespace control_loops {
-namespace drivetrain {
-
-const ::frc971::control_loops::drivetrain::DrivetrainConfig<double>
- &GetDrivetrainConfig();
-
-} // namespace drivetrain
-} // namespace control_loops
-} // namespace y2012
-
-#endif // Y2012_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_BASE_H_
diff --git a/y2012/control_loops/drivetrain/drivetrain_main.cc b/y2012/control_loops/drivetrain/drivetrain_main.cc
deleted file mode 100644
index 8665e91..0000000
--- a/y2012/control_loops/drivetrain/drivetrain_main.cc
+++ /dev/null
@@ -1,26 +0,0 @@
-#include <memory>
-
-#include "aos/events/shm_event_loop.h"
-#include "aos/init.h"
-#include "frc971/control_loops/drivetrain/drivetrain.h"
-#include "y2012/control_loops/drivetrain/drivetrain_base.h"
-
-using ::frc971::control_loops::drivetrain::DrivetrainLoop;
-
-int main(int argc, char **argv) {
- ::aos::InitGoogle(&argc, &argv);
-
- aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
-
- ::aos::ShmEventLoop event_loop(&config.message());
- ::frc971::control_loops::drivetrain::DeadReckonEkf localizer(
- &event_loop, ::y2012::control_loops::drivetrain::GetDrivetrainConfig());
- std::unique_ptr<DrivetrainLoop> drivetrain = std::make_unique<DrivetrainLoop>(
- ::y2012::control_loops::drivetrain::GetDrivetrainConfig(), &event_loop,
- &localizer);
-
- event_loop.Run();
-
- return 0;
-}
diff --git a/y2012/control_loops/python/BUILD b/y2012/control_loops/python/BUILD
deleted file mode 100644
index 1bceece..0000000
--- a/y2012/control_loops/python/BUILD
+++ /dev/null
@@ -1,54 +0,0 @@
-package(default_visibility = ["//y2012:__subpackages__"])
-
-py_binary(
- name = "drivetrain",
- srcs = [
- "drivetrain.py",
- ],
- legacy_create_init = False,
- target_compatible_with = ["@platforms//cpu:x86_64"],
- deps = [
- ":python_init",
- "//external:python-gflags",
- "//external:python-glog",
- "//frc971/control_loops/python:drivetrain",
- ],
-)
-
-py_binary(
- name = "polydrivetrain",
- srcs = [
- "drivetrain.py",
- "polydrivetrain.py",
- ],
- legacy_create_init = False,
- target_compatible_with = ["@platforms//cpu:x86_64"],
- deps = [
- ":python_init",
- "//external:python-gflags",
- "//external:python-glog",
- "//frc971/control_loops/python:polydrivetrain",
- ],
-)
-
-py_library(
- name = "polydrivetrain_lib",
- srcs = [
- "drivetrain.py",
- "polydrivetrain.py",
- ],
- target_compatible_with = ["@platforms//cpu:x86_64"],
- deps = [
- "//external:python-gflags",
- "//external:python-glog",
- "//frc971/control_loops/python:controls",
- ],
-)
-
-py_library(
- name = "python_init",
- srcs = ["__init__.py"],
- target_compatible_with = ["@platforms//os:linux"],
- visibility = ["//visibility:public"],
- deps = ["//y2012/control_loops:python_init"],
-)
diff --git a/y2012/control_loops/python/__init__.py b/y2012/control_loops/python/__init__.py
deleted file mode 100644
index e69de29..0000000
--- a/y2012/control_loops/python/__init__.py
+++ /dev/null
diff --git a/y2012/control_loops/python/drivetrain.py b/y2012/control_loops/python/drivetrain.py
deleted file mode 100755
index 5449503..0000000
--- a/y2012/control_loops/python/drivetrain.py
+++ /dev/null
@@ -1,41 +0,0 @@
-#!/usr/bin/python3
-
-from __future__ import print_function
-from frc971.control_loops.python import drivetrain
-import sys
-
-import gflags
-import glog
-
-FLAGS = gflags.FLAGS
-
-gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
-
-kDrivetrain = drivetrain.DrivetrainParams(J = 1.5,
- mass = 30,
- robot_radius = 0.647998644 / 2.0,
- wheel_radius = .04445,
- G_high = 30.0 / 45.0 * 15.0 / 50.0,
- G_low = 15.0 / 60.0 * 15.0 / 50.0,
- q_pos_low = 0.12,
- q_pos_high = 0.14,
- q_vel_low = 1.0,
- q_vel_high = 0.95,
- has_imu = False,
- dt = 0.005,
- controller_poles = [0.8, 0.8])
-
-def main(argv):
- argv = FLAGS(argv)
- glog.init()
-
- if FLAGS.plot:
- drivetrain.PlotDrivetrainMotions(kDrivetrain)
- elif len(argv) != 5:
- print("Expected .h file name and .cc file name")
- else:
- # Write the generated constants out to a file.
- drivetrain.WriteDrivetrain(argv[1:3], argv[3:5], 'y2012', kDrivetrain)
-
-if __name__ == '__main__':
- sys.exit(main(sys.argv))
diff --git a/y2012/control_loops/python/polydrivetrain.py b/y2012/control_loops/python/polydrivetrain.py
deleted file mode 100755
index ae26dbe..0000000
--- a/y2012/control_loops/python/polydrivetrain.py
+++ /dev/null
@@ -1,31 +0,0 @@
-#!/usr/bin/python3
-
-import sys
-from y2012.control_loops.python import drivetrain
-from frc971.control_loops.python import polydrivetrain
-
-import gflags
-import glog
-
-__author__ = 'Austin Schuh (austin.linux@gmail.com)'
-
-FLAGS = gflags.FLAGS
-
-try:
- gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
-except gflags.DuplicateFlagError:
- pass
-
-def main(argv):
- if FLAGS.plot:
- polydrivetrain.PlotPolyDrivetrainMotions(drivetrain.kDrivetrain)
- elif len(argv) != 7:
- glog.fatal('Expected .h file name and .cc file name')
- else:
- polydrivetrain.WritePolyDrivetrain(argv[1:3], argv[3:5], argv[5:7], 'y2012',
- drivetrain.kDrivetrain)
-
-if __name__ == '__main__':
- argv = FLAGS(sys.argv)
- glog.init()
- sys.exit(main(argv))
diff --git a/y2012/joystick_reader.cc b/y2012/joystick_reader.cc
deleted file mode 100644
index eb8c787..0000000
--- a/y2012/joystick_reader.cc
+++ /dev/null
@@ -1,168 +0,0 @@
-#include <unistd.h>
-
-#include <cmath>
-#include <cstdio>
-#include <cstring>
-
-#include "aos/actions/actions.h"
-#include "aos/events/shm_event_loop.h"
-#include "aos/init.h"
-#include "aos/logging/logging.h"
-#include "aos/time/time.h"
-#include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
-#include "frc971/input/driver_station_data.h"
-#include "frc971/input/joystick_input.h"
-#include "y2012/control_loops/accessories/accessories_generated.h"
-
-using ::frc971::input::driver_station::ButtonLocation;
-using ::frc971::input::driver_station::ControlBit;
-using ::frc971::input::driver_station::JoystickAxis;
-
-#define OLD_DS 0
-
-namespace y2012 {
-namespace input {
-namespace joysticks {
-
-const JoystickAxis kSteeringWheel(1, 1), kDriveThrottle(2, 2);
-const ButtonLocation kShiftHigh(2, 3), kShiftLow(2, 1);
-const ButtonLocation kQuickTurn(1, 5);
-
-const ButtonLocation kCatch(3, 10);
-
-#if OLD_DS
-const ButtonLocation kFire(3, 11);
-const ButtonLocation kUnload(1, 4);
-const ButtonLocation kReload(1, 2);
-
-const ButtonLocation kRollersOut(3, 12);
-const ButtonLocation kRollersIn(3, 7);
-
-const ButtonLocation kTuck(3, 9);
-const ButtonLocation kIntakePosition(3, 8);
-const ButtonLocation kIntakeOpenPosition(3, 10);
-const ButtonLocation kVerticalTuck(3, 1);
-const JoystickAxis kFlipRobot(3, 3);
-
-const ButtonLocation kLongShot(3, 5);
-const ButtonLocation kCloseShot(3, 2);
-const ButtonLocation kFenderShot(3, 3);
-const ButtonLocation kTrussShot(2, 11);
-const ButtonLocation kHumanPlayerShot(3, 2);
-#else
-const ButtonLocation kFire(3, 9);
-const ButtonLocation kUnload(1, 4);
-const ButtonLocation kReload(1, 2);
-
-const ButtonLocation kRollersOut(3, 8);
-const ButtonLocation kRollersIn(3, 3);
-
-const ButtonLocation kTuck(3, 4);
-const ButtonLocation kIntakePosition(3, 5);
-const ButtonLocation kIntakeOpenPosition(3, 11);
-const ButtonLocation kVerticalTuck(2, 6);
-const JoystickAxis kFlipRobot(3, 3);
-
-const ButtonLocation kLongShot(3, 7);
-const ButtonLocation kCloseShot(3, 6);
-const ButtonLocation kFenderShot(3, 2);
-const ButtonLocation kTrussShot(2, 11);
-const ButtonLocation kHumanPlayerShot(3, 1);
-#endif
-
-const ButtonLocation kUserLeft(2, 7);
-const ButtonLocation kUserRight(2, 10);
-
-const JoystickAxis kAdjustClawGoal(3, 2);
-const JoystickAxis kAdjustClawSeparation(3, 1);
-
-class Reader : public ::frc971::input::JoystickInput {
- public:
- Reader(::aos::EventLoop *event_loop)
- : ::frc971::input::JoystickInput(event_loop),
- drivetrain_goal_sender_(
- event_loop->MakeSender<::frc971::control_loops::drivetrain::Goal>(
- "/drivetrain")),
- accessories_goal_sender_(
- event_loop
- ->MakeSender<::y2012::control_loops::accessories::Message>(
- "/accessories")),
- is_high_gear_(false) {}
-
- void RunIteration(
- const ::frc971::input::driver_station::Data &data) override {
- if (!data.GetControlBit(ControlBit::kAutonomous)) {
- HandleDrivetrain(data);
- HandleTeleop(data);
- }
- }
-
- void HandleDrivetrain(const ::frc971::input::driver_station::Data &data) {
- const double wheel = -data.GetAxis(kSteeringWheel);
- const double throttle = -data.GetAxis(kDriveThrottle);
- if (data.PosEdge(kShiftLow)) {
- is_high_gear_ = false;
- }
- if (data.PosEdge(kShiftHigh)) {
- is_high_gear_ = true;
- }
- auto builder = drivetrain_goal_sender_.MakeBuilder();
- frc971::control_loops::drivetrain::Goal::Builder goal_builder =
- builder.MakeBuilder<frc971::control_loops::drivetrain::Goal>();
- goal_builder.add_wheel(wheel);
- goal_builder.add_throttle(throttle);
- goal_builder.add_highgear(is_high_gear_);
- goal_builder.add_quickturn(data.IsPressed(kQuickTurn));
-
- if (!builder.Send(goal_builder.Finish())) {
- AOS_LOG(WARNING, "sending stick values failed\n");
- }
- }
-
- void HandleTeleop(const ::frc971::input::driver_station::Data &data) {
- auto builder = accessories_goal_sender_.MakeBuilder();
- flatbuffers::Offset<flatbuffers::Vector<uint8_t>> solenoids_offset =
- builder.fbb()->CreateVector<uint8_t>({data.IsPressed(kLongShot),
- data.IsPressed(kCloseShot),
- data.IsPressed(kFenderShot)});
-
- flatbuffers::Offset<flatbuffers::Vector<double>> sticks_offset =
- builder.fbb()->CreateVector<double>(
- {data.GetAxis(kAdjustClawGoal),
- data.GetAxis(kAdjustClawSeparation)});
-
- y2012::control_loops::accessories::Message::Builder message_builder =
- builder.MakeBuilder<y2012::control_loops::accessories::Message>();
- message_builder.add_solenoids(solenoids_offset);
- message_builder.add_sticks(sticks_offset);
- if (!builder.Send(message_builder.Finish())) {
- AOS_LOG(WARNING, "sending accessories goal failed\n");
- }
- }
-
- private:
- ::aos::Sender<::frc971::control_loops::drivetrain::Goal>
- drivetrain_goal_sender_;
- ::aos::Sender<::y2012::control_loops::accessories::Message>
- accessories_goal_sender_;
-
- bool is_high_gear_;
-};
-
-} // namespace joysticks
-} // namespace input
-} // namespace y2012
-
-int main(int argc, char **argv) {
- ::aos::InitGoogle(&argc, &argv);
-
- aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
-
- ::aos::ShmEventLoop event_loop(&config.message());
- ::y2012::input::joysticks::Reader reader(&event_loop);
-
- event_loop.Run();
-
- return 0;
-}
diff --git a/y2012/wpilib_interface.cc b/y2012/wpilib_interface.cc
deleted file mode 100644
index 0d861a0..0000000
--- a/y2012/wpilib_interface.cc
+++ /dev/null
@@ -1,291 +0,0 @@
-#include <unistd.h>
-
-#include <chrono>
-#include <cinttypes>
-#include <cstdio>
-#include <cstring>
-#include <functional>
-#include <memory>
-#include <mutex>
-#include <thread>
-
-#include "frc971/wpilib/ahal/AnalogInput.h"
-#include "frc971/wpilib/ahal/Compressor.h"
-#include "frc971/wpilib/ahal/DigitalGlitchFilter.h"
-#include "frc971/wpilib/ahal/DriverStation.h"
-#include "frc971/wpilib/ahal/Encoder.h"
-#include "frc971/wpilib/ahal/PowerDistributionPanel.h"
-#include "frc971/wpilib/ahal/Relay.h"
-#include "frc971/wpilib/ahal/Talon.h"
-#include "frc971/wpilib/wpilib_robot_base.h"
-#undef ERROR
-
-#include "aos/events/shm_event_loop.h"
-#include "aos/init.h"
-#include "aos/logging/logging.h"
-#include "aos/stl_mutex/stl_mutex.h"
-#include "aos/time/time.h"
-#include "aos/util/log_interval.h"
-#include "aos/util/phased_loop.h"
-#include "aos/util/wrapping_counter.h"
-#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
-#include "frc971/control_loops/drivetrain/drivetrain_position_generated.h"
-#include "frc971/input/robot_state_generated.h"
-#include "frc971/wpilib/buffered_pcm.h"
-#include "frc971/wpilib/buffered_solenoid.h"
-#include "frc971/wpilib/dma.h"
-#include "frc971/wpilib/dma_edge_counting.h"
-#include "frc971/wpilib/drivetrain_writer.h"
-#include "frc971/wpilib/encoder_and_potentiometer.h"
-#include "frc971/wpilib/interrupt_edge_counting.h"
-#include "frc971/wpilib/joystick_sender.h"
-#include "frc971/wpilib/logging_generated.h"
-#include "frc971/wpilib/loop_output_handler.h"
-#include "frc971/wpilib/sensor_reader.h"
-#include "y2012/control_loops/accessories/accessories_generated.h"
-#include "y2012/control_loops/control_loops_generated.h"
-
-namespace accessories = ::y2012::control_loops::accessories;
-using namespace frc;
-using std::make_unique;
-
-namespace y2012 {
-namespace wpilib {
-
-double drivetrain_translate(int32_t in) {
- return -static_cast<double>(in) / (256.0 /*cpr*/ * 4.0 /*4x*/) * 1 *
- (3.5 /*wheel diameter*/ * 2.54 / 100.0 * M_PI) * 2.0 / 2.0;
-}
-
-double drivetrain_velocity_translate(double in) {
- return (1.0 / in) / 256.0 /*cpr*/ * 1 *
- (3.5 /*wheel diameter*/ * 2.54 / 100.0 * M_PI) * 2.0 / 2.0;
-}
-
-class SensorReader : public ::frc971::wpilib::SensorReader {
- public:
- SensorReader(::aos::ShmEventLoop *event_loop)
- : ::frc971::wpilib::SensorReader(event_loop),
- accessories_position_sender_(
- event_loop->MakeSender<::aos::control_loops::Position>(
- "/accessories")),
- drivetrain_position_sender_(
- event_loop
- ->MakeSender<::frc971::control_loops::drivetrain::Position>(
- "/drivetrain")) {}
-
- void RunIteration() {
- {
- auto builder = drivetrain_position_sender_.MakeBuilder();
-
- frc971::control_loops::drivetrain::Position::Builder position_builder =
- builder.MakeBuilder<frc971::control_loops::drivetrain::Position>();
- position_builder.add_right_encoder(
- drivetrain_translate(drivetrain_right_encoder_->GetRaw()));
- position_builder.add_left_encoder(
- -drivetrain_translate(drivetrain_left_encoder_->GetRaw()));
- position_builder.add_left_speed(
- drivetrain_velocity_translate(drivetrain_left_encoder_->GetPeriod()));
- position_builder.add_right_speed(drivetrain_velocity_translate(
- drivetrain_right_encoder_->GetPeriod()));
-
- builder.Send(position_builder.Finish());
- }
-
- {
- auto builder = accessories_position_sender_.MakeBuilder();
- builder.Send(
- builder.MakeBuilder<::aos::control_loops::Position>().Finish());
- }
- }
-
- private:
- ::aos::Sender<::aos::control_loops::Position> accessories_position_sender_;
- ::aos::Sender<::frc971::control_loops::drivetrain::Position>
- drivetrain_position_sender_;
-};
-
-class SolenoidWriter {
- public:
- SolenoidWriter(::aos::ShmEventLoop *event_loop,
- const ::std::unique_ptr<::frc971::wpilib::BufferedPcm> &pcm)
- : event_loop_(event_loop),
- pcm_(pcm),
- drivetrain_fetcher_(
- event_loop_
- ->MakeFetcher<::frc971::control_loops::drivetrain::Output>(
- "/drivetrain")),
- accessories_fetcher_(
- event_loop_
- ->MakeFetcher<::y2012::control_loops::accessories::Message>(
- "/accessories")),
- pneumatics_to_log_sender_(
- event_loop->MakeSender<::frc971::wpilib::PneumaticsToLog>("/aos")) {
- event_loop->set_name("Solenoids");
- event_loop_->SetRuntimeRealtimePriority(27);
-
- event_loop_->AddPhasedLoop([this](int iterations) { Loop(iterations); },
- ::std::chrono::milliseconds(20),
- ::std::chrono::milliseconds(1));
- }
-
- void set_drivetrain_high(
- ::std::unique_ptr<::frc971::wpilib::BufferedSolenoid> s) {
- drivetrain_high_ = ::std::move(s);
- }
-
- void set_drivetrain_low(
- ::std::unique_ptr<::frc971::wpilib::BufferedSolenoid> s) {
- drivetrain_low_ = ::std::move(s);
- }
-
- void set_s1(::std::unique_ptr<::frc971::wpilib::BufferedSolenoid> s) {
- s1_ = ::std::move(s);
- }
-
- void set_s2(::std::unique_ptr<::frc971::wpilib::BufferedSolenoid> s) {
- s2_ = ::std::move(s);
- }
-
- void set_s3(::std::unique_ptr<::frc971::wpilib::BufferedSolenoid> s) {
- s3_ = ::std::move(s);
- }
-
- void Loop(const int iterations) {
- if (iterations != 1) {
- AOS_LOG(DEBUG, "Solenoids skipped %d iterations\n", iterations - 1);
- }
-
- {
- accessories_fetcher_.Fetch();
- if (accessories_fetcher_.get()) {
- s1_->Set(accessories_fetcher_->solenoids()->Get(0));
- s2_->Set(accessories_fetcher_->solenoids()->Get(1));
- s3_->Set(accessories_fetcher_->solenoids()->Get(2));
- }
- }
-
- {
- drivetrain_fetcher_.Fetch();
- if (drivetrain_fetcher_.get()) {
- const bool high = drivetrain_fetcher_->left_high() ||
- drivetrain_fetcher_->right_high();
- drivetrain_high_->Set(high);
- drivetrain_low_->Set(!high);
- }
- }
-
- {
- auto builder = pneumatics_to_log_sender_.MakeBuilder();
-
- ::frc971::wpilib::PneumaticsToLog::Builder to_log_builder =
- builder.MakeBuilder<frc971::wpilib::PneumaticsToLog>();
- pcm_->Flush();
- to_log_builder.add_read_solenoids(pcm_->GetAll());
- builder.Send(to_log_builder.Finish());
- }
- }
-
- private:
- ::aos::EventLoop *event_loop_;
-
- const ::std::unique_ptr<::frc971::wpilib::BufferedPcm> &pcm_;
-
- ::std::unique_ptr<::frc971::wpilib::BufferedSolenoid> drivetrain_high_;
- ::std::unique_ptr<::frc971::wpilib::BufferedSolenoid> drivetrain_low_;
- ::std::unique_ptr<::frc971::wpilib::BufferedSolenoid> s1_, s2_, s3_;
-
- ::std::unique_ptr<Compressor> compressor_;
-
- ::aos::Fetcher<::frc971::control_loops::drivetrain::Output>
- drivetrain_fetcher_;
- ::aos::Fetcher<::y2012::control_loops::accessories::Message>
- accessories_fetcher_;
-
- aos::Sender<::frc971::wpilib::PneumaticsToLog> pneumatics_to_log_sender_;
-};
-
-class AccessoriesWriter : public ::frc971::wpilib::LoopOutputHandler<
- control_loops::accessories::Message> {
- public:
- AccessoriesWriter(::aos::EventLoop *event_loop)
- : ::frc971::wpilib::LoopOutputHandler<
- control_loops::accessories::Message>(event_loop, "/accessories") {}
-
- void set_talon1(::std::unique_ptr<Talon> t) { talon1_ = ::std::move(t); }
-
- void set_talon2(::std::unique_ptr<Talon> t) { talon2_ = ::std::move(t); }
-
- private:
- virtual void Write(
- const control_loops::accessories::Message &output) override {
- talon1_->SetSpeed(output.sticks()->Get(0));
- talon2_->SetSpeed(output.sticks()->Get(1));
- }
-
- virtual void Stop() override {
- AOS_LOG(WARNING, "shooter output too old\n");
- talon1_->SetDisabled();
- talon2_->SetDisabled();
- }
-
- ::std::unique_ptr<Talon> talon1_, talon2_;
-};
-
-class WPILibRobot : public ::frc971::wpilib::WPILibRobotBase {
- public:
- ::std::unique_ptr<Encoder> make_encoder(int index) {
- return make_unique<Encoder>(10 + index * 2, 11 + index * 2, false,
- Encoder::k4X);
- }
-
- void Run() override {
- aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
-
- // Thread 1.
- ::aos::ShmEventLoop joystick_sender_event_loop(&config.message());
- ::frc971::wpilib::JoystickSender joystick_sender(
- &joystick_sender_event_loop);
- AddLoop(&joystick_sender_event_loop);
-
- // Thread 2.
- ::aos::ShmEventLoop sensor_reader_event_loop(&config.message());
- SensorReader sensor_reader(&sensor_reader_event_loop);
- sensor_reader.set_drivetrain_left_encoder(make_encoder(0));
- sensor_reader.set_drivetrain_right_encoder(make_encoder(1));
- AddLoop(&sensor_reader_event_loop);
-
- // Thread 3.
- ::aos::ShmEventLoop output_event_loop(&config.message());
- ::frc971::wpilib::DrivetrainWriter drivetrain_writer(&output_event_loop);
- drivetrain_writer.set_left_controller0(
- ::std::unique_ptr<Talon>(new Talon(3)), true);
- drivetrain_writer.set_right_controller0(
- ::std::unique_ptr<Talon>(new Talon(4)), false);
-
- ::y2012::wpilib::AccessoriesWriter accessories_writer(&output_event_loop);
- accessories_writer.set_talon1(::std::unique_ptr<Talon>(new Talon(5)));
- accessories_writer.set_talon2(::std::unique_ptr<Talon>(new Talon(6)));
- AddLoop(&output_event_loop);
-
- // Thread 4.
- ::aos::ShmEventLoop solenoid_writer_event_loop(&config.message());
- ::std::unique_ptr<::frc971::wpilib::BufferedPcm> pcm(
- new ::frc971::wpilib::BufferedPcm());
- SolenoidWriter solenoid_writer(&solenoid_writer_event_loop, pcm);
- solenoid_writer.set_drivetrain_high(pcm->MakeSolenoid(0));
- solenoid_writer.set_drivetrain_low(pcm->MakeSolenoid(2));
- solenoid_writer.set_s1(pcm->MakeSolenoid(1));
- solenoid_writer.set_s2(pcm->MakeSolenoid(3));
- solenoid_writer.set_s3(pcm->MakeSolenoid(4));
- AddLoop(&solenoid_writer_event_loop);
-
- RunLoops();
- }
-};
-
-} // namespace wpilib
-} // namespace y2012
-
-AOS_ROBOT_CLASS(::y2012::wpilib::WPILibRobot);
diff --git a/y2014/actors/autonomous_actor.cc b/y2014/actors/autonomous_actor.cc
index a78ab4b..07c6855 100644
--- a/y2014/actors/autonomous_actor.cc
+++ b/y2014/actors/autonomous_actor.cc
@@ -53,7 +53,7 @@
goal_builder.add_intake(intake_power);
goal_builder.add_centering(centering_power);
- if (!builder.Send(goal_builder.Finish())) {
+ if (builder.Send(goal_builder.Finish()) != aos::RawSender::Error::kOk) {
AOS_LOG(WARNING, "sending claw goal failed\n");
}
}
@@ -66,7 +66,7 @@
goal_builder.add_separation_angle(0.0);
goal_builder.add_intake(12.0);
goal_builder.add_centering(12.0);
- if (!builder.Send(goal_builder.Finish())) {
+ if (builder.Send(goal_builder.Finish()) != aos::RawSender::Error::kOk) {
AOS_LOG(WARNING, "sending claw goal failed\n");
}
}
@@ -81,7 +81,7 @@
goal_builder.add_separation_angle(0.0);
goal_builder.add_intake(4.0);
goal_builder.add_centering(1.0);
- if (!builder.Send(goal_builder.Finish())) {
+ if (builder.Send(goal_builder.Finish()) != aos::RawSender::Error::kOk) {
AOS_LOG(WARNING, "sending claw goal failed\n");
}
}
@@ -94,7 +94,7 @@
goal_builder.add_separation_angle(0.10);
goal_builder.add_intake(4.0);
goal_builder.add_centering(1.0);
- if (!builder.Send(goal_builder.Finish())) {
+ if (builder.Send(goal_builder.Finish()) != aos::RawSender::Error::kOk) {
AOS_LOG(WARNING, "sending claw goal failed\n");
}
}
@@ -108,7 +108,7 @@
goal_builder.add_shot_requested(false);
goal_builder.add_unload_requested(false);
goal_builder.add_load_requested(false);
- if (!builder.Send(goal_builder.Finish())) {
+ if (builder.Send(goal_builder.Finish()) != aos::RawSender::Error::kOk) {
AOS_LOG(WARNING, "sending shooter goal failed\n");
}
}
diff --git a/y2014/actors/shoot_actor.cc b/y2014/actors/shoot_actor.cc
index 095a972..aad64e8 100644
--- a/y2014/actors/shoot_actor.cc
+++ b/y2014/actors/shoot_actor.cc
@@ -63,7 +63,8 @@
claw_builder.add_intake(0.0);
claw_builder.add_centering(0.0);
- if (!builder.Send(claw_builder.Finish())) {
+ if (builder.Send(claw_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(WARNING, "sending claw goal failed\n");
return false;
}
@@ -88,7 +89,8 @@
shooter_builder.add_shot_requested(false);
shooter_builder.add_unload_requested(false);
shooter_builder.add_load_requested(false);
- if (!builder.Send(shooter_builder.Finish())) {
+ if (builder.Send(shooter_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(WARNING, "sending shooter goal failed\n");
return false;
}
@@ -122,7 +124,8 @@
goal_builder.add_shot_requested(true);
goal_builder.add_unload_requested(false);
goal_builder.add_load_requested(false);
- if (!builder.Send(goal_builder.Finish())) {
+ if (builder.Send(goal_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(WARNING, "sending shooter goal failed\n");
return;
}
diff --git a/y2014/control_loops/claw/claw.cc b/y2014/control_loops/claw/claw.cc
index 4f0248c..4b76fd2 100644
--- a/y2014/control_loops/claw/claw.cc
+++ b/y2014/control_loops/claw/claw.cc
@@ -619,8 +619,9 @@
if (::std::isnan(goal->bottom_angle()) ||
::std::isnan(goal->separation_angle()) ||
::std::isnan(goal->intake()) || ::std::isnan(goal->centering())) {
- status->Send(Status::Pack(*status->fbb(), &status_struct));
- output->Send(Output::Pack(*output->fbb(), &output_struct));
+ (void)status->Send(Status::Pack(*status->fbb(), &status_struct));
+ output->CheckOk(
+ output->Send(Output::Pack(*output->fbb(), &output_struct)));
return;
}
}
@@ -977,7 +978,7 @@
output_struct.bottom_claw_voltage = -kMaxVoltage;
}
- output->Send(Output::Pack(*output->fbb(), &output_struct));
+ output->CheckOk(output->Send(Output::Pack(*output->fbb(), &output_struct)));
}
status_struct.bottom = bottom_absolute_position();
@@ -1013,7 +1014,7 @@
bottom_claw_.zeroing_state() ==
ZeroedStateFeedbackLoop::DISABLED_CALIBRATION);
- status->Send(Status::Pack(*status->fbb(), &status_struct));
+ (void)status->Send(Status::Pack(*status->fbb(), &status_struct));
was_enabled_ = enabled;
}
diff --git a/y2014/control_loops/claw/claw_lib_test.cc b/y2014/control_loops/claw/claw_lib_test.cc
index eb941a1..a714124 100644
--- a/y2014/control_loops/claw/claw_lib_test.cc
+++ b/y2014/control_loops/claw/claw_lib_test.cc
@@ -241,7 +241,8 @@
// Only set calibration if it changed last cycle. Calibration starts out
// with a value of 0.
- builder.Send(Position::Pack(*builder.fbb(), &position));
+ EXPECT_EQ(builder.Send(Position::Pack(*builder.fbb(), &position)),
+ aos::RawSender::Error::kOk);
last_position_ = std::move(position);
}
@@ -335,7 +336,8 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_bottom_angle(::std::nan(""));
goal_builder.add_separation_angle(::std::nan(""));
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
SetEnabled(true);
@@ -349,7 +351,8 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_bottom_angle(0.1);
goal_builder.add_separation_angle(0.2);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
SetEnabled(true);
@@ -446,7 +449,8 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_bottom_angle(0.1);
goal_builder.add_separation_angle(0.2);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
SetEnabled(true);
@@ -614,7 +618,8 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_bottom_angle(0.1);
goal_builder.add_separation_angle(0.2);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
TestWindup(ClawMotor::UNKNOWN_LOCATION,
@@ -631,7 +636,8 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_bottom_angle(0.1);
goal_builder.add_separation_angle(0.2);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
TestWindup(ClawMotor::UNKNOWN_LOCATION,
@@ -648,7 +654,8 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_bottom_angle(0.1);
goal_builder.add_separation_angle(0.2);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
TestWindup(ClawMotor::FINE_TUNE_BOTTOM,
diff --git a/y2014/control_loops/shooter/shooter.cc b/y2014/control_loops/shooter/shooter.cc
index 230a048..2a3e0d0 100644
--- a/y2014/control_loops/shooter/shooter.cc
+++ b/y2014/control_loops/shooter/shooter.cc
@@ -656,7 +656,7 @@
output_struct.latch_piston = latch_piston_;
output_struct.brake_piston = brake_piston_;
- output->Send(Output::Pack(*output->fbb(), &output_struct));
+ output->CheckOk(output->Send(Output::Pack(*output->fbb(), &output_struct)));
}
if (position) {
@@ -676,7 +676,7 @@
status_builder.add_shots(shot_count_);
- status->Send(status_builder.Finish());
+ (void)status->Send(status_builder.Finish());
}
flatbuffers::Offset<Output> ShooterMotor::Zero(
diff --git a/y2014/control_loops/shooter/shooter_lib_test.cc b/y2014/control_loops/shooter/shooter_lib_test.cc
index d3217a6..f7dcf20 100644
--- a/y2014/control_loops/shooter/shooter_lib_test.cc
+++ b/y2014/control_loops/shooter/shooter_lib_test.cc
@@ -199,7 +199,8 @@
*last_position_message_.pusher_proximal.get(),
values.shooter.pusher_proximal, last_position_);
- builder.Send(Position::Pack(*builder.fbb(), &position));
+ EXPECT_EQ(builder.Send(Position::Pack(*builder.fbb(), &position)),
+ aos::RawSender::Error::kOk);
last_position_ = position.position;
last_position_message_ = std::move(position);
@@ -403,7 +404,8 @@
::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_shot_power(70.0);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(2));
@@ -422,7 +424,8 @@
::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_shot_power(70.0);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(1200));
EXPECT_EQ(ShooterMotor::STATE_READY, shooter_motor_.state());
@@ -431,7 +434,8 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_shot_power(35.0);
goal_builder.add_shot_requested(true);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
bool hit_fire = false;
@@ -445,7 +449,8 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_shot_power(17.0);
goal_builder.add_shot_requested(false);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
hit_fire = true;
}
@@ -467,7 +472,8 @@
::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_shot_power(70.0);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(1500));
@@ -477,7 +483,8 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_shot_power(0.0);
goal_builder.add_shot_requested(true);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
bool hit_fire = false;
@@ -490,7 +497,8 @@
shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_shot_requested(false);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
hit_fire = true;
}
@@ -513,7 +521,8 @@
::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_shot_power(500.0);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
while (test_event_loop_->monotonic_now() <
monotonic_clock::time_point(chrono::milliseconds(1600))) {
@@ -531,7 +540,8 @@
::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_shot_power(70.0);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(1500));
@@ -540,7 +550,8 @@
::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_shot_power(14.0);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(500));
@@ -559,7 +570,8 @@
::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_shot_power(70.0);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(1500));
EXPECT_EQ(ShooterMotor::STATE_READY, shooter_motor_.state());
@@ -567,7 +579,8 @@
::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_unload_requested(true);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
while (test_event_loop_->monotonic_now() <
@@ -588,7 +601,8 @@
::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_shot_power(70);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(1500));
@@ -601,7 +615,8 @@
::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_unload_requested(true);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
while (test_event_loop_->monotonic_now() <
@@ -622,7 +637,8 @@
::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_shot_power(70);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(1500));
EXPECT_EQ(ShooterMotor::STATE_READY, shooter_motor_.state());
@@ -630,7 +646,8 @@
::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_unload_requested(true);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
int kicked_delay = 20;
@@ -665,7 +682,8 @@
::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_shot_power(70);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(1500));
EXPECT_EQ(ShooterMotor::STATE_READY, shooter_motor_.state());
@@ -673,7 +691,8 @@
::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_unload_requested(true);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
int kicked_delay = 20;
@@ -713,7 +732,8 @@
::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_shot_power(70.0);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(2));
// EXPECT_NEAR(0.0, shooter_motor_.GetPosition(), 0.01);
@@ -734,7 +754,8 @@
::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_shot_power(70.0);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(3));
// EXPECT_NEAR(0.0, shooter_motor_.GetPosition(), 0.01);
@@ -765,7 +786,8 @@
::aos::Sender<Goal>::Builder builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_shot_power(120.0);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
while (test_event_loop_->monotonic_now() <
monotonic_clock::time_point(chrono::seconds(2))) {
diff --git a/y2014/hot_goal_reader.cc b/y2014/hot_goal_reader.cc
index 5972a92..71380f4 100644
--- a/y2014/hot_goal_reader.cc
+++ b/y2014/hot_goal_reader.cc
@@ -89,7 +89,7 @@
builder.MakeBuilder<y2014::HotGoal>();
hot_goal_builder.add_left_count(left_count);
hot_goal_builder.add_right_count(right_count);
- builder.Send(hot_goal_builder.Finish());
+ (void)builder.Send(hot_goal_builder.Finish());
} break;
case 0:
AOS_LOG(WARNING, "read on %d timed out\n", connection);
diff --git a/y2014/joystick_reader.cc b/y2014/joystick_reader.cc
index d1569d7..fc78994 100644
--- a/y2014/joystick_reader.cc
+++ b/y2014/joystick_reader.cc
@@ -393,7 +393,8 @@
: (data.IsPressed(kRollersOut) ? -12.0 : intake_power_));
goal_builder.add_centering(intaking ? 12.0 : 0.0);
- if (!builder.Send(goal_builder.Finish())) {
+ if (builder.Send(goal_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(WARNING, "sending claw goal failed\n");
}
}
@@ -406,7 +407,8 @@
goal_builder.add_shot_requested(data.IsPressed(kFire));
goal_builder.add_unload_requested(data.IsPressed(kUnload));
goal_builder.add_load_requested(data.IsPressed(kReload));
- if (!builder.Send(goal_builder.Finish())) {
+ if (builder.Send(goal_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(WARNING, "sending shooter goal failed\n");
}
}
diff --git a/y2014/wpilib_interface.cc b/y2014/wpilib_interface.cc
index 3e34064..9f8e2ce 100644
--- a/y2014/wpilib_interface.cc
+++ b/y2014/wpilib_interface.cc
@@ -271,7 +271,7 @@
position_builder.add_right_shifter_position(
hall_translate(values.right_drive, low_right_hall, high_right_hall));
- builder.Send(position_builder.Finish());
+ builder.CheckOk(builder.Send(position_builder.Finish()));
}
{
@@ -279,7 +279,7 @@
y2014::sensors::AutoMode::Builder auto_builder =
builder.MakeBuilder<y2014::sensors::AutoMode>();
auto_builder.add_voltage(auto_selector_analog_->GetVoltage());
- builder.Send(auto_builder.Finish());
+ builder.CheckOk(builder.Send(auto_builder.Finish()));
}
}
@@ -310,7 +310,7 @@
position_builder.add_pusher_distal(pusher_distal_offset);
position_builder.add_pusher_proximal(pusher_proximal_offset);
- builder.Send(position_builder.Finish());
+ builder.CheckOk(builder.Send(position_builder.Finish()));
}
{
@@ -325,7 +325,7 @@
position_builder.add_top(top_offset);
position_builder.add_bottom(bottom_offset);
- builder.Send(position_builder.Finish());
+ builder.CheckOk(builder.Send(position_builder.Finish()));
}
}
@@ -558,7 +558,7 @@
pcm_->Flush();
to_log_builder.add_read_solenoids(pcm_->GetAll());
- builder.Send(to_log_builder.Finish());
+ (void)builder.Send(to_log_builder.Finish());
}
}
diff --git a/y2014_bot3/actors/autonomous_actor.cc b/y2014_bot3/actors/autonomous_actor.cc
index 2fc9d8b..8f281d4 100644
--- a/y2014_bot3/actors/autonomous_actor.cc
+++ b/y2014_bot3/actors/autonomous_actor.cc
@@ -48,9 +48,8 @@
AOS_LOG(INFO, "Done %f\n",
::aos::time::DurationInSeconds(monotonic_now() - start_time));
- ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
- monotonic_now(),
- ::std::chrono::milliseconds(5) / 2);
+ ::aos::time::PhasedLoop phased_loop(frc971::controls::kLoopFrequency,
+ monotonic_now(), ActorBase::kLoopOffset);
while (!ShouldCancel()) {
phased_loop.SleepUntilNext();
}
diff --git a/y2014_bot3/control_loops/rollers/rollers.cc b/y2014_bot3/control_loops/rollers/rollers.cc
index 5fcb692..8cf7ba6 100644
--- a/y2014_bot3/control_loops/rollers/rollers.cc
+++ b/y2014_bot3/control_loops/rollers/rollers.cc
@@ -22,7 +22,7 @@
constexpr double k2014Bot3LowGoalForwardVoltage = 6.0;
constexpr double k2014Bot3LowGoalBackwardVoltage = -6.0;
- status->Send(status->MakeBuilder<Status>().Finish());
+ status->CheckOk(status->Send(status->MakeBuilder<Status>().Finish()));
if (!output || !goal) {
return;
@@ -80,7 +80,7 @@
output_struct.back_intake_voltage = -k2014Bot3IntakeForwardVoltage;
}
- output->Send(Output::Pack(*output->fbb(), &output_struct));
+ output->CheckOk(output->Send(Output::Pack(*output->fbb(), &output_struct)));
}
} // namespace rollers
diff --git a/y2014_bot3/joystick_reader.cc b/y2014_bot3/joystick_reader.cc
index 3d1159a..5c27247 100644
--- a/y2014_bot3/joystick_reader.cc
+++ b/y2014_bot3/joystick_reader.cc
@@ -99,8 +99,9 @@
} else if (data.IsPressed(kHumanPlayer)) {
rollers_goal.human_player = true;
}
- if (!builder.Send(control_loops::rollers::Goal::Pack(*builder.fbb(),
- &rollers_goal))) {
+ if (builder.Send(control_loops::rollers::Goal::Pack(*builder.fbb(),
+ &rollers_goal)) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(WARNING, "Sending rollers values failed.\n");
}
}
diff --git a/y2014_bot3/wpilib_interface.cc b/y2014_bot3/wpilib_interface.cc
index b4de681..2c7c521 100644
--- a/y2014_bot3/wpilib_interface.cc
+++ b/y2014_bot3/wpilib_interface.cc
@@ -102,14 +102,14 @@
position_builder.add_right_speed(drivetrain_velocity_translate(
drivetrain_right_encoder_->GetPeriod()));
- builder.Send(position_builder.Finish());
+ builder.CheckOk(builder.Send(position_builder.Finish()));
}
// Rollers
{
auto builder = rollers_position_sender_.MakeBuilder();
- builder.Send(
- builder.MakeBuilder<control_loops::rollers::Position>().Finish());
+ builder.CheckOk(builder.Send(
+ builder.MakeBuilder<control_loops::rollers::Position>().Finish()));
}
}
@@ -212,7 +212,7 @@
pcm_->Flush();
to_log_builder.add_read_solenoids(pcm_->GetAll());
- builder.Send(to_log_builder.Finish());
+ builder.CheckOk(builder.Send(to_log_builder.Finish()));
}
}
diff --git a/y2016/actors/autonomous_actor.cc b/y2016/actors/autonomous_actor.cc
index c35612f..ffba99b 100644
--- a/y2016/actors/autonomous_actor.cc
+++ b/y2016/actors/autonomous_actor.cc
@@ -120,7 +120,8 @@
superstructure_goal_builder.add_voltage_climber(0.0);
superstructure_goal_builder.add_unfold_climber(false);
- if (!builder.Send(superstructure_goal_builder.Finish())) {
+ if (builder.Send(superstructure_goal_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Sending superstructure goal failed.\n");
}
}
@@ -135,7 +136,8 @@
shooter_goal_builder.add_clamp_open(true);
shooter_goal_builder.add_push_to_shooter(false);
shooter_goal_builder.add_force_lights_on(false);
- if (!builder.Send(shooter_goal_builder.Finish())) {
+ if (builder.Send(shooter_goal_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Sending shooter goal failed.\n");
}
}
@@ -150,8 +152,8 @@
shooter_goal_builder.add_clamp_open(false);
shooter_goal_builder.add_push_to_shooter(false);
shooter_goal_builder.add_force_lights_on(false);
-
- if (!builder.Send(shooter_goal_builder.Finish())) {
+ if (builder.Send(shooter_goal_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Sending shooter goal failed.\n");
}
}
@@ -171,7 +173,8 @@
shooter_goal_builder.add_push_to_shooter(false);
shooter_goal_builder.add_force_lights_on(force_lights_on);
- if (!builder.Send(shooter_goal_builder.Finish())) {
+ if (builder.Send(shooter_goal_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Sending shooter goal failed.\n");
}
}
@@ -196,13 +199,14 @@
shooter_goal_builder.add_push_to_shooter(true);
shooter_goal_builder.add_force_lights_on(force_lights_on);
- if (!builder.Send(shooter_goal_builder.Finish())) {
+ if (builder.Send(shooter_goal_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Sending shooter goal failed.\n");
}
- ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::aos::time::PhasedLoop phased_loop(frc971::controls::kLoopFrequency,
event_loop()->monotonic_now(),
- ::std::chrono::milliseconds(5) / 2);
+ ActorBase::kLoopOffset);
while (true) {
if (ShouldCancel()) return;
@@ -218,9 +222,9 @@
}
void AutonomousActor::WaitForShooterSpeed() {
- ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::aos::time::PhasedLoop phased_loop(frc971::controls::kLoopFrequency,
event_loop()->monotonic_now(),
- ::std::chrono::milliseconds(5) / 2);
+ ActorBase::kLoopOffset);
while (true) {
if (ShouldCancel()) return;
@@ -247,9 +251,9 @@
double last_angle = 0.0;
int ready_to_fire = 0;
- ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::aos::time::PhasedLoop phased_loop(frc971::controls::kLoopFrequency,
event_loop()->monotonic_now(),
- ::std::chrono::milliseconds(5) / 2);
+ ActorBase::kLoopOffset);
const monotonic_clock::time_point end_time = monotonic_now() + align_duration;
while (end_time > monotonic_now()) {
if (ShouldCancel()) break;
@@ -585,9 +589,9 @@
}
void AutonomousActor::WaitForBallOrDriveDone() {
- ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::aos::time::PhasedLoop phased_loop(frc971::controls::kLoopFrequency,
event_loop()->monotonic_now(),
- ::std::chrono::milliseconds(5) / 2);
+ ActorBase::kLoopOffset);
while (true) {
if (ShouldCancel()) {
return;
@@ -970,9 +974,8 @@
AOS_LOG(INFO, "Done %f\n",
::aos::time::DurationInSeconds(monotonic_now() - start_time));
- ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
- monotonic_now(),
- ::std::chrono::milliseconds(5) / 2);
+ ::aos::time::PhasedLoop phased_loop(frc971::controls::kLoopFrequency,
+ monotonic_now(), ActorBase::kLoopOffset);
while (!ShouldCancel()) {
phased_loop.SleepUntilNext();
diff --git a/y2016/actors/superstructure_actor.cc b/y2016/actors/superstructure_actor.cc
index e193243..d33b125 100644
--- a/y2016/actors/superstructure_actor.cc
+++ b/y2016/actors/superstructure_actor.cc
@@ -72,7 +72,8 @@
superstructure_goal_builder.add_voltage_climber(0.0);
superstructure_goal_builder.add_unfold_climber(unfold_climber);
- if (!builder.Send(superstructure_goal_builder.Finish())) {
+ if (builder.Send(superstructure_goal_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Sending superstructure move failed.\n");
}
}
diff --git a/y2016/actors/vision_align_actor.cc b/y2016/actors/vision_align_actor.cc
index 56a858c..1440aee 100644
--- a/y2016/actors/vision_align_actor.cc
+++ b/y2016/actors/vision_align_actor.cc
@@ -34,9 +34,9 @@
const vision_align_action::VisionAlignActionParams * /*params*/) {
const double robot_radius =
control_loops::drivetrain::GetDrivetrainConfig().robot_radius;
- ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::aos::time::PhasedLoop phased_loop(frc971::controls::kLoopFrequency,
event_loop()->monotonic_now(),
- ::std::chrono::milliseconds(5) / 2);
+ ActorBase::kLoopOffset);
while (true) {
const int iterations = phased_loop.SleepUntilNext();
if (iterations != 1) {
@@ -79,7 +79,8 @@
goal_builder.add_left_goal(left_current + side_distance_change);
goal_builder.add_right_goal(right_current - side_distance_change);
- if (!builder.Send(goal_builder.Finish())) {
+ if (builder.Send(goal_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(WARNING, "sending drivetrain goal failed\n");
}
}
diff --git a/y2016/control_loops/shooter/shooter.cc b/y2016/control_loops/shooter/shooter.cc
index 8b719c3..d317d4f 100644
--- a/y2016/control_loops/shooter/shooter.cc
+++ b/y2016/control_loops/shooter/shooter.cc
@@ -186,12 +186,12 @@
output_builder.add_push_to_shooter(shoot);
}
- output->Send(output_builder.Finish());
+ output->CheckOk(output->Send(output_builder.Finish()));
}
status_builder.add_shots(shots_);
- status->Send(status_builder.Finish());
+ (void)status->Send(status_builder.Finish());
}
} // namespace shooter
diff --git a/y2016/control_loops/shooter/shooter_lib_test.cc b/y2016/control_loops/shooter/shooter_lib_test.cc
index 6934a75..46b96c0 100644
--- a/y2016/control_loops/shooter/shooter_lib_test.cc
+++ b/y2016/control_loops/shooter/shooter_lib_test.cc
@@ -76,7 +76,8 @@
position_builder.add_theta_left(shooter_plant_left_->Y(0, 0));
position_builder.add_theta_right(shooter_plant_right_->Y(0, 0));
- builder.Send(position_builder.Finish());
+ EXPECT_EQ(builder.Send(position_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
void set_left_voltage_offset(double voltage_offset) {
@@ -172,7 +173,8 @@
auto builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_angular_velocity(0.0);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(dt() * 3 / 2);
@@ -193,7 +195,8 @@
auto builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_angular_velocity(450.0);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(1));
@@ -204,7 +207,8 @@
auto builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_angular_velocity(0.0);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
// Make sure we don't apply voltage on spin-down.
@@ -230,7 +234,8 @@
auto builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_angular_velocity(20.0);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
// Cause problems by adding a voltage error on one side.
shooter_plant_.set_right_voltage_offset(-4.0);
@@ -267,7 +272,8 @@
auto builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_angular_velocity(200.0);
- EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+ EXPECT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(5));
EXPECT_TRUE(shooter_output_fetcher_.Fetch());
diff --git a/y2016/control_loops/superstructure/superstructure.cc b/y2016/control_loops/superstructure/superstructure.cc
index 3ee7730..88dfd93 100644
--- a/y2016/control_loops/superstructure/superstructure.cc
+++ b/y2016/control_loops/superstructure/superstructure.cc
@@ -742,7 +742,7 @@
output_struct.traverse_down = unsafe_goal->traverse_down();
}
- output->Send(Output::Pack(*output->fbb(), &output_struct));
+ output->CheckOk(output->Send(Output::Pack(*output->fbb(), &output_struct)));
}
// Save debug/internal state.
@@ -827,7 +827,7 @@
status_builder.add_state(state_);
status_builder.add_is_collided(is_collided);
- status->Send(status_builder.Finish());
+ (void)status->Send(status_builder.Finish());
last_state_ = state_before_switch;
}
diff --git a/y2016/control_loops/superstructure/superstructure_lib_test.cc b/y2016/control_loops/superstructure/superstructure_lib_test.cc
index 49ae033..12ef0a2 100644
--- a/y2016/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2016/control_loops/superstructure/superstructure_lib_test.cc
@@ -166,7 +166,8 @@
position_builder.add_shoulder(shoulder_offset);
position_builder.add_wrist(wrist_offset);
- builder.Send(position_builder.Finish());
+ EXPECT_EQ(builder.Send(position_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
double shoulder_angle() const { return arm_plant_->X(0, 0); }
@@ -417,7 +418,8 @@
goal_builder.add_max_angular_acceleration_intake(20);
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(5));
@@ -440,7 +442,8 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
// Give it a lot of time to get there.
@@ -466,7 +469,8 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -493,7 +497,8 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -521,7 +526,8 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -550,7 +556,8 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -585,7 +592,8 @@
goal_builder.add_angle_shoulder(constants::Values::kShoulderRange.upper);
goal_builder.add_angle_wrist(constants::Values::kWristRange.upper +
constants::Values::kShoulderRange.upper);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
// We have to wait for it to put the elevator in a safe position as well.
RunFor(chrono::seconds(15));
@@ -608,7 +616,8 @@
goal_builder.add_angle_intake(constants::Values::kIntakeRange.lower);
goal_builder.add_angle_shoulder(constants::Values::kShoulderRange.lower);
goal_builder.add_angle_wrist(0.0);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
// We have to wait for it to put the superstructure in a safe position as
// well.
@@ -633,7 +642,8 @@
goal_builder.add_angle_intake(constants::Values::kIntakeRange.lower + 0.3);
goal_builder.add_angle_shoulder(constants::Values::kShoulderRange.upper);
goal_builder.add_angle_wrist(0.0);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(15));
@@ -659,7 +669,8 @@
goal_builder.add_angle_shoulder(constants::Values::kShoulderRange.lower +
0.03);
goal_builder.add_angle_wrist(constants::Values::kWristRange.lower + 0.03);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(100));
@@ -697,7 +708,8 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
// Expected states to cycle through and check in order.
@@ -769,7 +781,8 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
// Expected states to cycle through and check in order.
@@ -846,7 +859,8 @@
goal_builder.add_angle_intake(0.0);
goal_builder.add_angle_shoulder(0.0);
goal_builder.add_angle_wrist(0.0);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(8));
@@ -870,7 +884,8 @@
goal_builder.add_angle_shoulder(
constants::Values::kShoulderEncoderIndexDifference * 10);
goal_builder.add_angle_wrist(0.0);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
// Run disabled for 2 seconds
@@ -925,7 +940,8 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(6));
@@ -945,7 +961,8 @@
goal_builder.add_max_angular_acceleration_shoulder(1);
goal_builder.add_max_angular_velocity_wrist(1);
goal_builder.add_max_angular_acceleration_wrist(1);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
// TODO(austin): The profile isn't feasible, so when we try to track it, we
@@ -974,7 +991,8 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(6));
@@ -994,7 +1012,8 @@
goal_builder.add_max_angular_acceleration_shoulder(1);
goal_builder.add_max_angular_velocity_wrist(1);
goal_builder.add_max_angular_acceleration_wrist(1);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
superstructure_plant_.set_peak_intake_acceleration(1.20);
@@ -1021,7 +1040,8 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(6));
@@ -1042,7 +1062,8 @@
goal_builder.add_max_angular_acceleration_shoulder(1);
goal_builder.add_max_angular_velocity_wrist(1);
goal_builder.add_max_angular_acceleration_wrist(1);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
superstructure_plant_.set_peak_intake_acceleration(1.05);
@@ -1070,7 +1091,8 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(6));
@@ -1091,7 +1113,8 @@
goal_builder.add_max_angular_acceleration_shoulder(100);
goal_builder.add_max_angular_velocity_wrist(1);
goal_builder.add_max_angular_acceleration_wrist(100);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
superstructure_plant_.set_peak_intake_velocity(4.65);
@@ -1118,7 +1141,8 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(6));
@@ -1138,7 +1162,8 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(1);
goal_builder.add_max_angular_acceleration_wrist(100);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
superstructure_plant_.set_peak_intake_velocity(1.0);
@@ -1166,7 +1191,8 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(6));
@@ -1187,7 +1213,8 @@
goal_builder.add_max_angular_acceleration_shoulder(1.0);
goal_builder.add_max_angular_velocity_wrist(10.0);
goal_builder.add_max_angular_acceleration_wrist(160.0);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
superstructure_plant_.set_peak_intake_velocity(1.0);
@@ -1215,7 +1242,8 @@
goal_builder.add_angle_shoulder(
constants::Values::kShoulderRange.lower); // Down
goal_builder.add_angle_wrist(0.0); // Stowed
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(15));
@@ -1227,7 +1255,8 @@
constants::Values::kIntakeRange.upper); // stowed
goal_builder.add_angle_shoulder(M_PI / 4.0); // in the collision area
goal_builder.add_angle_wrist(M_PI / 2.0); // down
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(5));
@@ -1259,7 +1288,8 @@
constants::Values::kIntakeRange.upper); // stowed
goal_builder.add_angle_shoulder(M_PI / 2.0); // in the collision area
goal_builder.add_angle_wrist(M_PI); // forward
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(5));
@@ -1280,7 +1310,8 @@
goal_builder.add_angle_intake(0.0);
goal_builder.add_angle_shoulder(0.0);
goal_builder.add_angle_wrist(M_PI); // intentionally asking for forward
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(15));
@@ -1307,7 +1338,8 @@
goal_builder.add_angle_intake(0.0);
goal_builder.add_angle_shoulder(M_PI * 0.5);
goal_builder.add_angle_wrist(0.0);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(6));
@@ -1348,7 +1380,8 @@
goal_builder.add_angle_intake(0.0);
goal_builder.add_angle_shoulder(constants::Values::kShoulderRange.lower);
goal_builder.add_angle_wrist(0.0);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(6));
@@ -1392,7 +1425,8 @@
goal_builder.add_angle_intake(0.0);
goal_builder.add_angle_shoulder(constants::Values::kShoulderRange.lower);
goal_builder.add_angle_wrist(0.0); // intentionally asking for forward
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(6));
@@ -1421,7 +1455,8 @@
goal_builder.add_angle_intake(0.0);
goal_builder.add_angle_shoulder(M_PI * 0.25);
goal_builder.add_angle_wrist(0.0);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(8));
@@ -1438,7 +1473,8 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
// Wait until we hit the transition point.
@@ -1462,7 +1498,8 @@
goal_builder.add_angle_intake(0.0);
goal_builder.add_angle_shoulder(0.0);
goal_builder.add_angle_wrist(0.0);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(8));
@@ -1479,7 +1516,8 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
// Wait until we hit the transition point.
diff --git a/y2016/joystick_reader.cc b/y2016/joystick_reader.cc
index 974adf7..b235f64 100644
--- a/y2016/joystick_reader.cc
+++ b/y2016/joystick_reader.cc
@@ -381,7 +381,8 @@
superstructure_builder.add_traverse_down(traverse_down_);
superstructure_builder.add_force_intake(true);
- if (!builder.Send(superstructure_builder.Finish())) {
+ if (builder.Send(superstructure_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Sending superstructure goal failed.\n");
} else {
AOS_LOG(DEBUG, "sending goals: intake: %f, shoulder: %f, wrist: %f\n",
@@ -399,7 +400,8 @@
shooter_builder.add_force_lights_on(force_lights_on);
shooter_builder.add_shooting_forwards(wrist_goal_ > 0);
- if (!builder.Send(shooter_builder.Finish())) {
+ if (builder.Send(shooter_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Sending shooter goal failed.\n");
}
}
diff --git a/y2016/vision/target_receiver.cc b/y2016/vision/target_receiver.cc
index a762e4f..75a07a8 100644
--- a/y2016/vision/target_receiver.cc
+++ b/y2016/vision/target_receiver.cc
@@ -408,8 +408,9 @@
}
if (drivetrain_offset.CompleteVisionStatus(&new_vision_status)) {
- if (!builder.Send(
- VisionStatus::Pack(*builder.fbb(), &new_vision_status))) {
+ if (builder.Send(
+ VisionStatus::Pack(*builder.fbb(), &new_vision_status)) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Failed to send vision information\n");
}
} else {
diff --git a/y2016/wpilib_interface.cc b/y2016/wpilib_interface.cc
index e3d367c..0419950 100644
--- a/y2016/wpilib_interface.cc
+++ b/y2016/wpilib_interface.cc
@@ -276,7 +276,7 @@
position_builder.add_right_shifter_position(
hall_translate(drivetrain_right_hall_->GetVoltage()));
- builder.Send(position_builder.Finish());
+ builder.CheckOk(builder.Send(position_builder.Finish()));
}
}
@@ -290,7 +290,7 @@
shooter_translate(-shooter_left_encoder_->GetRaw()));
shooter_builder.add_theta_right(
shooter_translate(shooter_right_encoder_->GetRaw()));
- builder.Send(shooter_builder.Finish());
+ builder.CheckOk(builder.Send(shooter_builder.Finish()));
}
{
@@ -321,7 +321,7 @@
position_builder.add_shoulder(shoulder_offset);
position_builder.add_wrist(wrist_offset);
- builder.Send(position_builder.Finish());
+ builder.CheckOk(builder.Send(position_builder.Finish()));
}
{
@@ -329,7 +329,7 @@
::y2016::sensors::BallDetector::Builder ball_detector_builder =
builder.MakeBuilder<y2016::sensors::BallDetector>();
ball_detector_builder.add_voltage(ball_detector_->GetVoltage());
- builder.Send(ball_detector_builder.Finish());
+ builder.CheckOk(builder.Send(ball_detector_builder.Finish()));
}
{
@@ -343,7 +343,7 @@
}
}
auto_builder.add_mode(mode);
- builder.Send(auto_builder.Finish());
+ builder.CheckOk(builder.Send(auto_builder.Finish()));
}
}
@@ -492,7 +492,7 @@
pcm_->Flush();
to_log_builder.add_read_solenoids(pcm_->GetAll());
- builder.Send(to_log_builder.Finish());
+ (void)builder.Send(to_log_builder.Finish());
}
}
diff --git a/y2017/actors/autonomous_actor.cc b/y2017/actors/autonomous_actor.cc
index b683f51..19aa329 100644
--- a/y2017/actors/autonomous_actor.cc
+++ b/y2017/actors/autonomous_actor.cc
@@ -309,9 +309,9 @@
AOS_LOG(INFO, "Done %f\n",
::aos::time::DurationInSeconds(monotonic_now() - start_time));
- ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::aos::time::PhasedLoop phased_loop(frc971::controls::kLoopFrequency,
event_loop()->monotonic_now(),
- ::std::chrono::milliseconds(5) / 2);
+ ActorBase::kLoopOffset);
while (!ShouldCancel()) {
phased_loop.SleepUntilNext();
diff --git a/y2017/actors/autonomous_actor.h b/y2017/actors/autonomous_actor.h
index f0bcfc8..ef99b72 100644
--- a/y2017/actors/autonomous_actor.h
+++ b/y2017/actors/autonomous_actor.h
@@ -74,9 +74,9 @@
}
void WaitForHoodZeroed() {
- ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::aos::time::PhasedLoop phased_loop(frc971::controls::kLoopFrequency,
event_loop()->monotonic_now(),
- ::std::chrono::milliseconds(5) / 2);
+ ActorBase::kLoopOffset);
while (true) {
if (ShouldCancel()) return;
@@ -165,7 +165,7 @@
goal->mutable_indexer()->mutate_voltage_rollers(0.0);
}
- if (!builder.Send(goal_offset)) {
+ if (builder.Send(goal_offset) != aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Sending superstructure goal failed.\n");
}
}
diff --git a/y2017/control_loops/superstructure/superstructure.cc b/y2017/control_loops/superstructure/superstructure.cc
index c707653..84da59c 100644
--- a/y2017/control_loops/superstructure/superstructure.cc
+++ b/y2017/control_loops/superstructure/superstructure.cc
@@ -260,10 +260,10 @@
}
if (output) {
- output->Send(Output::Pack(*output->fbb(), &output_struct));
+ output->CheckOk(output->Send(Output::Pack(*output->fbb(), &output_struct)));
}
- status->Send(status_builder.Finish());
+ (void)status->Send(status_builder.Finish());
}
} // namespace superstructure
diff --git a/y2017/control_loops/superstructure/superstructure_lib_test.cc b/y2017/control_loops/superstructure/superstructure_lib_test.cc
index 7690937..05ca333 100644
--- a/y2017/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2017/control_loops/superstructure/superstructure_lib_test.cc
@@ -246,7 +246,8 @@
position_builder.add_intake(intake_offset);
position_builder.add_hood(hood_offset);
- builder.Send(position_builder.Finish());
+ ASSERT_EQ(builder.Send(position_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
double hood_position() const { return hood_plant_->X(0, 0); }
@@ -635,7 +636,8 @@
goal_builder.add_shooter(shooter_offset);
goal_builder.add_indexer(indexer_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(5));
@@ -691,7 +693,8 @@
goal_builder.add_shooter(shooter_offset);
goal_builder.add_indexer(indexer_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
// Give it a lot of time to get there.
@@ -738,7 +741,8 @@
goal_builder.add_shooter(shooter_offset);
goal_builder.add_indexer(indexer_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(8));
VerifyNearGoal();
@@ -789,7 +793,8 @@
goal_builder.add_shooter(shooter_offset);
goal_builder.add_indexer(indexer_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
superstructure_plant_.set_peak_intake_velocity(23.0);
superstructure_plant_.set_peak_turret_velocity(23.0);
@@ -844,7 +849,8 @@
goal_builder.add_shooter(shooter_offset);
goal_builder.add_indexer(indexer_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
superstructure_plant_.set_peak_intake_velocity(0.2);
@@ -906,7 +912,8 @@
goal_builder.add_shooter(shooter_offset);
goal_builder.add_indexer(indexer_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -964,7 +971,8 @@
goal_builder.add_shooter(shooter_offset);
goal_builder.add_indexer(indexer_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -1024,7 +1032,8 @@
goal_builder.add_shooter(shooter_offset);
goal_builder.add_indexer(indexer_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -1086,7 +1095,8 @@
goal_builder.add_shooter(shooter_offset);
goal_builder.add_indexer(indexer_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -1144,7 +1154,8 @@
goal_builder.add_shooter(shooter_offset);
goal_builder.add_indexer(indexer_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -1192,7 +1203,8 @@
goal_builder.add_shooter(shooter_offset);
goal_builder.add_indexer(indexer_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -1239,7 +1251,8 @@
goal_builder.add_shooter(shooter_offset);
goal_builder.add_indexer(indexer_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -1271,7 +1284,8 @@
auto builder = superstructure_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
{
auto builder = superstructure_goal_sender_.MakeBuilder();
@@ -1303,7 +1317,8 @@
goal_builder.add_shooter(shooter_offset);
goal_builder.add_indexer(indexer_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(100));
@@ -1356,7 +1371,8 @@
goal_builder.add_shooter(shooter_offset);
goal_builder.add_indexer(indexer_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
// Run disabled for 2 seconds
@@ -1426,7 +1442,8 @@
goal_builder.add_indexer(indexer_offset);
goal_builder.add_shooter(shooter_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(5));
@@ -1462,7 +1479,8 @@
goal_builder.add_indexer(indexer_offset);
goal_builder.add_shooter(shooter_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
// Make sure we don't apply voltage on spin-down.
@@ -1508,7 +1526,8 @@
goal_builder.add_indexer(indexer_offset);
goal_builder.add_shooter(shooter_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(5));
EXPECT_EQ(nullptr, superstructure_output_fetcher_.get());
@@ -1554,7 +1573,8 @@
goal_builder.add_indexer(indexer_offset);
goal_builder.add_shooter(shooter_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(5));
@@ -1656,7 +1676,8 @@
goal_builder.add_indexer(indexer_offset);
goal_builder.add_shooter(shooter_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(5));
diff --git a/y2017/control_loops/superstructure/vision_time_adjuster_test.cc b/y2017/control_loops/superstructure/vision_time_adjuster_test.cc
index d7a5fb4..49e4460 100644
--- a/y2017/control_loops/superstructure/vision_time_adjuster_test.cc
+++ b/y2017/control_loops/superstructure/vision_time_adjuster_test.cc
@@ -19,8 +19,7 @@
: ::testing::Test(),
configuration_(aos::configuration::ReadConfig("y2017/config.json")),
event_loop_factory_(&configuration_.message()),
- simulation_event_loop_(
- event_loop_factory_.MakeEventLoop("drivetrain")),
+ simulation_event_loop_(event_loop_factory_.MakeEventLoop("drivetrain")),
drivetrain_status_sender_(
simulation_event_loop_
->MakeSender<::frc971::control_loops::drivetrain::Status>(
@@ -99,7 +98,8 @@
status_builder.add_estimated_left_position(drivetrain_left_);
status_builder.add_estimated_right_position(drivetrain_right_);
- ASSERT_TRUE(builder.Send(status_builder.Finish()));
+ ASSERT_EQ(builder.Send(status_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
void SendVisionTarget() {
@@ -118,7 +118,8 @@
drivetrain_history_[0]);
vision_status_builder.add_image_valid(true);
- ASSERT_TRUE(builder.Send(vision_status_builder.Finish()));
+ ASSERT_EQ(builder.Send(vision_status_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
double GetDriveTrainAngle() const {
diff --git a/y2017/joystick_reader.cc b/y2017/joystick_reader.cc
index 13b8720..cb21d3e 100644
--- a/y2017/joystick_reader.cc
+++ b/y2017/joystick_reader.cc
@@ -292,7 +292,8 @@
goal_builder.add_hood(hood_goal_offset);
goal_builder.add_shooter(shooter_goal_offset);
- if (!builder.Send(goal_builder.Finish())) {
+ if (builder.Send(goal_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Sending superstructure goal failed.\n");
}
}
diff --git a/y2017/vision/target_receiver.cc b/y2017/vision/target_receiver.cc
index 84d3428..ba09425 100644
--- a/y2017/vision/target_receiver.cc
+++ b/y2017/vision/target_receiver.cc
@@ -48,7 +48,7 @@
builder.MakeBuilder<VisionStatus>();
vision_status_builder.add_image_valid(target.has_target());
if (target.has_target()) {
- vision_status_builder.add_target_time (
+ vision_status_builder.add_target_time(
std::chrono::duration_cast<std::chrono::nanoseconds>(
target_time.time_since_epoch())
.count());
@@ -57,13 +57,14 @@
double angle = 0.0;
finder.GetAngleDist(
aos::vision::Vector<2>(target.target().x(), target.target().y()),
- /* TODO: Insert down estimate here in radians: */ 0.0,
- &distance, &angle);
+ /* TODO: Insert down estimate here in radians: */ 0.0, &distance,
+ &angle);
vision_status_builder.add_distance(distance);
vision_status_builder.add_angle(angle);
}
- if (!builder.Send(vision_status_builder.Finish())) {
+ if (builder.Send(vision_status_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Failed to send vision information\n");
}
}
diff --git a/y2017/wpilib_interface.cc b/y2017/wpilib_interface.cc
index 04e19b6..6a4596e 100644
--- a/y2017/wpilib_interface.cc
+++ b/y2017/wpilib_interface.cc
@@ -222,7 +222,7 @@
position_builder.add_left_speed(
drivetrain_velocity_translate(drivetrain_left_encoder_->GetPeriod()));
- builder.Send(position_builder.Finish());
+ builder.CheckOk(builder.Send(position_builder.Finish()));
}
}
@@ -278,7 +278,7 @@
Values::kShooterEncoderCountsPerRevolution,
Values::kShooterEncoderRatio));
- builder.Send(position_builder.Finish());
+ builder.CheckOk(builder.Send(position_builder.Finish()));
}
{
@@ -293,7 +293,7 @@
}
}
auto_builder.add_mode(mode);
- builder.Send(auto_builder.Finish());
+ builder.CheckOk(builder.Send(auto_builder.Finish()));
}
}
diff --git a/y2018/actors/autonomous_actor.cc b/y2018/actors/autonomous_actor.cc
index cee84d8..ea9daab 100644
--- a/y2018/actors/autonomous_actor.cc
+++ b/y2018/actors/autonomous_actor.cc
@@ -120,9 +120,9 @@
AOS_LOG(INFO, "Done %f\n",
::aos::time::DurationInSeconds(monotonic_now() - start_time));
- ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::aos::time::PhasedLoop phased_loop(frc971::controls::kLoopFrequency,
event_loop()->monotonic_now(),
- ::std::chrono::milliseconds(5) / 2);
+ ActorBase::kLoopOffset);
while (!ShouldCancel()) {
phased_loop.SleepUntilNext();
diff --git a/y2018/actors/autonomous_actor.h b/y2018/actors/autonomous_actor.h
index 014459a..3e6be9f 100644
--- a/y2018/actors/autonomous_actor.h
+++ b/y2018/actors/autonomous_actor.h
@@ -105,7 +105,8 @@
superstructure_builder.add_deploy_fork(deploy_fork_);
superstructure_builder.add_trajectory_override(false);
- if (!builder.Send(superstructure_builder.Finish())) {
+ if (builder.Send(superstructure_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Sending superstructure goal failed.\n");
}
}
@@ -122,9 +123,9 @@
bool WaitForArmTrajectoryOrDriveClose(double drive_threshold,
double arm_threshold) {
- ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::aos::time::PhasedLoop phased_loop(frc971::controls::kLoopFrequency,
event_loop()->monotonic_now(),
- ::std::chrono::milliseconds(5) / 2);
+ ActorBase::kLoopOffset);
constexpr double kPositionTolerance = 0.02;
constexpr double kProfileTolerance = 0.001;
@@ -184,9 +185,9 @@
}
bool WaitForArmTrajectoryClose(double threshold) {
- ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::aos::time::PhasedLoop phased_loop(frc971::controls::kLoopFrequency,
event_loop()->monotonic_now(),
- ::std::chrono::milliseconds(5) / 2);
+ ActorBase::kLoopOffset);
while (true) {
if (ShouldCancel()) {
return false;
@@ -206,9 +207,9 @@
}
bool WaitForBoxGrabed() {
- ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::aos::time::PhasedLoop phased_loop(frc971::controls::kLoopFrequency,
event_loop()->monotonic_now(),
- ::std::chrono::milliseconds(5) / 2);
+ ActorBase::kLoopOffset);
while (true) {
if (ShouldCancel()) {
return false;
diff --git a/y2018/control_loops/python/BUILD b/y2018/control_loops/python/BUILD
index 3c75b97..c74396c 100644
--- a/y2018/control_loops/python/BUILD
+++ b/y2018/control_loops/python/BUILD
@@ -172,8 +172,6 @@
"graph_generate.py",
],
legacy_create_init = False,
- python_version = "PY3",
- srcs_version = "PY3",
target_compatible_with = ["@platforms//cpu:x86_64"],
deps = [
":python_init",
@@ -190,11 +188,10 @@
"graph_generate.py",
],
legacy_create_init = False,
- python_version = "PY2",
- srcs_version = "PY2",
target_compatible_with = ["@platforms//os:linux"],
deps = [
":python_init",
+ "@python_repo//:numpy",
],
)
diff --git a/y2018/control_loops/superstructure/superstructure.cc b/y2018/control_loops/superstructure/superstructure.cc
index 7d12fd5..fc08280 100644
--- a/y2018/control_loops/superstructure/superstructure.cc
+++ b/y2018/control_loops/superstructure/superstructure.cc
@@ -329,10 +329,10 @@
output_builder.add_forks_release(forks_release_output);
output_builder.add_voltage_winch(voltage_winch_output);
- output->Send(output_builder.Finish());
+ output->CheckOk(output->Send(output_builder.Finish()));
}
- status->Send(status_builder.Finish());
+ (void)status->Send(status_builder.Finish());
}
void Superstructure::SendColors(float red, float green, float blue) {
@@ -344,7 +344,8 @@
status_light_builder.add_green(green);
status_light_builder.add_blue(blue);
- if (!builder.Send(status_light_builder.Finish())) {
+ if (builder.Send(status_light_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Failed to send lights.\n");
}
}
diff --git a/y2018/control_loops/superstructure/superstructure_lib_test.cc b/y2018/control_loops/superstructure/superstructure_lib_test.cc
index 9d2c10e..c52d8db 100644
--- a/y2018/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2018/control_loops/superstructure/superstructure_lib_test.cc
@@ -262,7 +262,8 @@
position_builder.add_left_intake(left_intake_offset);
position_builder.add_right_intake(right_intake_offset);
position_builder.add_arm(arm_offset);
- EXPECT_TRUE(builder.Send(position_builder.Finish()));
+ EXPECT_EQ(builder.Send(position_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
// Sets the difference between the commanded and applied powers.
@@ -409,7 +410,8 @@
goal_builder.add_arm_goal_position(arm::UpIndex());
goal_builder.add_open_claw(true);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
// Give it a lot of time to get there.
@@ -440,7 +442,8 @@
goal_builder.add_arm_goal_position(arm::UpIndex());
goal_builder.add_open_claw(true);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
// Give it a lot of time to get there.
@@ -469,7 +472,8 @@
goal_builder.add_arm_goal_position(arm::UpIndex());
goal_builder.add_open_claw(true);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -508,7 +512,8 @@
goal_builder.add_arm_goal_position(arm::UpIndex());
goal_builder.add_open_claw(true);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -552,7 +557,8 @@
goal_builder.add_arm_goal_position(arm::UpIndex());
goal_builder.add_open_claw(true);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
{
@@ -570,7 +576,8 @@
goal_builder.add_arm_goal_position(arm::UpIndex());
goal_builder.add_open_claw(true);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
VerifyNearGoal();
@@ -598,7 +605,8 @@
goal_builder.add_arm_goal_position(arm::UpIndex());
goal_builder.add_open_claw(true);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -627,7 +635,8 @@
goal_builder.add_arm_goal_position(arm::UpIndex());
goal_builder.add_open_claw(true);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -675,7 +684,8 @@
goal_builder.add_arm_goal_position(arm::FrontHighBoxIndex());
goal_builder.add_open_claw(true);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
EXPECT_EQ(arm::Arm::State::RUNNING, superstructure_.arm().state());
@@ -699,7 +709,8 @@
goal_builder.add_arm_goal_position(arm::FrontHighBoxIndex());
goal_builder.add_open_claw(true);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -721,7 +732,8 @@
goal_builder.add_arm_goal_position(arm::ReadyAboveBoxIndex());
goal_builder.add_open_claw(true);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -748,7 +760,8 @@
goal_builder.add_arm_goal_position(arm::BackLowBoxIndex());
goal_builder.add_open_claw(true);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -770,7 +783,8 @@
goal_builder.add_arm_goal_position(arm::ReadyAboveBoxIndex());
goal_builder.add_open_claw(true);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
diff --git a/y2018/joystick_reader.cc b/y2018/joystick_reader.cc
index 42620ff..3a5ed63 100644
--- a/y2018/joystick_reader.cc
+++ b/y2018/joystick_reader.cc
@@ -351,7 +351,8 @@
superstructure_builder.add_open_claw(false);
}
- if (!builder.Send(superstructure_builder.Finish())) {
+ if (builder.Send(superstructure_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Sending superstructure goal failed.\n");
}
diff --git a/y2018/vision/vision_status.cc b/y2018/vision/vision_status.cc
index 15daefc..ca11dd8 100644
--- a/y2018/vision/vision_status.cc
+++ b/y2018/vision/vision_status.cc
@@ -35,7 +35,8 @@
builder.MakeBuilder<VisionStatus>();
vision_status_builder.add_high_frame_count(status.high_frame_count());
vision_status_builder.add_low_frame_count(status.low_frame_count());
- if (!builder.Send(vision_status_builder.Finish())) {
+ if (builder.Send(vision_status_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Failed to send vision information\n");
}
}
diff --git a/y2018/wpilib_interface.cc b/y2018/wpilib_interface.cc
index ef4c058..4ee8031 100644
--- a/y2018/wpilib_interface.cc
+++ b/y2018/wpilib_interface.cc
@@ -293,7 +293,7 @@
drivetrain_shifter_pot_translate(
right_drivetrain_shifter_->GetVoltage()));
- builder.Send(drivetrain_builder.Finish());
+ builder.CheckOk(builder.Send(drivetrain_builder.Finish()));
}
}
@@ -396,7 +396,7 @@
superstructure_builder.add_box_distance(lidar_lite_.last_width() /
0.00001 / 100.0 / 2);
- builder.Send(superstructure_builder.Finish());
+ builder.CheckOk(builder.Send(superstructure_builder.Finish()));
}
}
@@ -516,7 +516,7 @@
pcm_->Flush();
to_log_builder.add_read_solenoids(pcm_->GetAll());
- builder.Send(to_log_builder.Finish());
+ (void)builder.Send(to_log_builder.Finish());
}
monotonic_clock::time_point monotonic_now = event_loop_->monotonic_now();
diff --git a/y2019/actors/autonomous_actor.cc b/y2019/actors/autonomous_actor.cc
index 7622a64..b8024ec 100644
--- a/y2019/actors/autonomous_actor.cc
+++ b/y2019/actors/autonomous_actor.cc
@@ -35,9 +35,9 @@
bool AutonomousActor::WaitForDriveXGreater(double x) {
AOS_LOG(INFO, "Waiting until x > %f\n", x);
- ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::aos::time::PhasedLoop phased_loop(frc971::controls::kLoopFrequency,
event_loop()->monotonic_now(),
- ::std::chrono::milliseconds(5) / 2);
+ ActorBase::kLoopOffset);
while (true) {
if (ShouldCancel()) {
@@ -54,9 +54,9 @@
bool AutonomousActor::WaitForDriveYCloseToZero(double y) {
AOS_LOG(INFO, "Waiting until |y| < %f\n", y);
- ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::aos::time::PhasedLoop phased_loop(frc971::controls::kLoopFrequency,
event_loop()->monotonic_now(),
- ::std::chrono::milliseconds(5) / 2);
+ ActorBase::kLoopOffset);
while (true) {
if (ShouldCancel()) {
@@ -98,7 +98,8 @@
localizer_control_builder.add_y(1.35 * turn_scalar);
localizer_control_builder.add_theta(M_PI);
localizer_control_builder.add_theta_uncertainty(0.00001);
- if (!builder.Send(localizer_control_builder.Finish())) {
+ if (builder.Send(localizer_control_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Failed to reset localizer.\n");
}
}
diff --git a/y2019/actors/autonomous_actor.h b/y2019/actors/autonomous_actor.h
index af2a60f..99b1364 100644
--- a/y2019/actors/autonomous_actor.h
+++ b/y2019/actors/autonomous_actor.h
@@ -153,7 +153,8 @@
superstructure_builder.add_intake(intake_offset);
superstructure_builder.add_suction(suction_offset);
- if (!builder.Send(superstructure_builder.Finish())) {
+ if (builder.Send(superstructure_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Sending superstructure goal failed.\n");
}
}
@@ -168,9 +169,9 @@
}
bool WaitForGamePiece() {
- ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::aos::time::PhasedLoop phased_loop(frc971::controls::kLoopFrequency,
event_loop()->monotonic_now(),
- ::std::chrono::milliseconds(5) / 2);
+ ActorBase::kLoopOffset);
while (true) {
if (ShouldCancel()) {
@@ -191,7 +192,7 @@
return false;
}
// TODO(james): Allow non-multiples of 5.
- ::std::this_thread::sleep_for(::std::chrono::milliseconds(5));
+ ::std::this_thread::sleep_for(frc971::controls::kLoopFrequency);
}
return true;
}
@@ -219,9 +220,9 @@
}
bool WaitForSuperstructureDone() {
- ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::aos::time::PhasedLoop phased_loop(frc971::controls::kLoopFrequency,
event_loop()->monotonic_now(),
- ::std::chrono::milliseconds(5) / 2);
+ ActorBase::kLoopOffset);
while (true) {
if (ShouldCancel()) {
diff --git a/y2019/control_loops/drivetrain/localized_drivetrain_test.cc b/y2019/control_loops/drivetrain/localized_drivetrain_test.cc
index 485dff6..4d6f84a 100644
--- a/y2019/control_loops/drivetrain/localized_drivetrain_test.cc
+++ b/y2019/control_loops/drivetrain/localized_drivetrain_test.cc
@@ -160,8 +160,10 @@
::std::get<0>(camera_delay_queue_.front()) <
monotonic_now() - camera_latency) {
auto builder = camera_sender_.MakeBuilder();
- ASSERT_TRUE(builder.Send(CameraFrame::Pack(
- *builder.fbb(), ::std::get<1>(camera_delay_queue_.front()).get())));
+ ASSERT_EQ(builder.Send(CameraFrame::Pack(
+ *builder.fbb(),
+ ::std::get<1>(camera_delay_queue_.front()).get())),
+ aos::RawSender::Error::kOk);
camera_delay_queue_.pop();
}
}
@@ -216,7 +218,8 @@
drivetrain_builder.add_left_goal(-1.0);
drivetrain_builder.add_right_goal(1.0);
- EXPECT_TRUE(builder.Send(drivetrain_builder.Finish()));
+ EXPECT_EQ(builder.Send(drivetrain_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(3));
VerifyNearGoal();
@@ -237,7 +240,8 @@
drivetrain_builder.add_left_goal(-1.0);
drivetrain_builder.add_right_goal(1.0);
- EXPECT_TRUE(builder.Send(drivetrain_builder.Finish()));
+ EXPECT_EQ(builder.Send(drivetrain_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(3));
VerifyNearGoal();
@@ -257,7 +261,8 @@
drivetrain_builder.add_left_goal(-1.0);
drivetrain_builder.add_right_goal(1.0);
- EXPECT_TRUE(builder.Send(drivetrain_builder.Finish()));
+ EXPECT_EQ(builder.Send(drivetrain_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(3));
VerifyNearGoal();
@@ -279,7 +284,8 @@
drivetrain_builder.add_left_goal(-1.0);
drivetrain_builder.add_right_goal(1.0);
- EXPECT_TRUE(builder.Send(drivetrain_builder.Finish()));
+ EXPECT_EQ(builder.Send(drivetrain_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(3));
// VerifyNearGoal succeeds because it is just checking wheel positions:
@@ -308,7 +314,8 @@
drivetrain_builder.add_left_goal(-1.0);
drivetrain_builder.add_right_goal(1.0);
- EXPECT_TRUE(builder.Send(drivetrain_builder.Finish()));
+ EXPECT_EQ(builder.Send(drivetrain_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
{
@@ -321,7 +328,8 @@
localizer_control_builder.add_y(drivetrain_plant_.state().y());
localizer_control_builder.add_theta(drivetrain_plant_.state()(2, 0));
- EXPECT_TRUE(builder.Send(localizer_control_builder.Finish()));
+ EXPECT_EQ(builder.Send(localizer_control_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(3));
VerifyNearGoal();
@@ -344,7 +352,8 @@
drivetrain_builder.add_left_goal(-1.0);
drivetrain_builder.add_right_goal(1.0);
- EXPECT_TRUE(builder.Send(drivetrain_builder.Finish()));
+ EXPECT_EQ(builder.Send(drivetrain_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(5));
VerifyNearGoal(4e-3);
@@ -373,7 +382,8 @@
frc971::control_loops::drivetrain::ControllerType::LINE_FOLLOWER);
drivetrain_builder.add_throttle(0.5);
- EXPECT_TRUE(builder.Send(drivetrain_builder.Finish()));
+ EXPECT_EQ(builder.Send(drivetrain_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(6));
diff --git a/y2019/control_loops/drivetrain/target_selector_test.cc b/y2019/control_loops/drivetrain/target_selector_test.cc
index 5933f3f..f33224b 100644
--- a/y2019/control_loops/drivetrain/target_selector_test.cc
+++ b/y2019/control_loops/drivetrain/target_selector_test.cc
@@ -39,8 +39,7 @@
TargetSelectorParamTest()
: configuration_(aos::configuration::ReadConfig("y2019/config.json")),
event_loop_factory_(&configuration_.message()),
- event_loop_(
- this->event_loop_factory_.MakeEventLoop("drivetrain")),
+ event_loop_(this->event_loop_factory_.MakeEventLoop("drivetrain")),
test_event_loop_(this->event_loop_factory_.MakeEventLoop("test")),
target_selector_hint_sender_(
test_event_loop_->MakeSender<
@@ -82,12 +81,14 @@
builder.MakeBuilder<superstructure::Goal>();
goal_builder.add_suction(suction_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
{
auto builder = target_selector_hint_sender_.MakeBuilder();
- ASSERT_TRUE(builder.Send(drivetrain::CreateTargetSelectorHint(
- *builder.fbb(), GetParam().selection_hint)));
+ ASSERT_EQ(builder.Send(drivetrain::CreateTargetSelectorHint(
+ *builder.fbb(), GetParam().selection_hint)),
+ aos::RawSender::Error::kOk);
}
bool expect_target = GetParam().expect_target;
const State state = GetParam().state;
diff --git a/y2019/control_loops/superstructure/superstructure.cc b/y2019/control_loops/superstructure/superstructure.cc
index 9e7a5fe..e796f0b 100644
--- a/y2019/control_loops/superstructure/superstructure.cc
+++ b/y2019/control_loops/superstructure/superstructure.cc
@@ -119,7 +119,7 @@
output_struct.intake_roller_voltage = 0.0;
}
- output->Send(Output::Pack(*output->fbb(), &output_struct));
+ output->CheckOk(output->Send(Output::Pack(*output->fbb(), &output_struct)));
}
if (unsafe_goal) {
@@ -196,7 +196,7 @@
}
}
- status->Send(status_offset);
+ (void)status->Send(status_offset);
}
void Superstructure::SendColors(float red, float green, float blue) {
@@ -208,7 +208,8 @@
status_light_builder.add_green(green);
status_light_builder.add_blue(blue);
- if (!builder.Send(status_light_builder.Finish())) {
+ if (builder.Send(status_light_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Failed to send lights.\n");
}
}
diff --git a/y2019/control_loops/superstructure/superstructure_lib_test.cc b/y2019/control_loops/superstructure/superstructure_lib_test.cc
index cabb4e2..d6b4f2d 100644
--- a/y2019/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2019/control_loops/superstructure/superstructure_lib_test.cc
@@ -7,6 +7,7 @@
#include "frc971/control_loops/control_loop_test.h"
#include "frc971/control_loops/position_sensor_sim.h"
#include "frc971/control_loops/team_number_test_environment.h"
+#include "glog/logging.h"
#include "gtest/gtest.h"
#include "y2019/constants.h"
#include "y2019/control_loops/superstructure/elevator/elevator_plant.h"
@@ -166,7 +167,8 @@
position_builder.add_stilts(stilts_offset);
position_builder.add_suction_pressure(simulated_pressure_);
- builder.Send(position_builder.Finish());
+ CHECK_EQ(builder.Send(position_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
double elevator_position() const { return elevator_plant_->X(0, 0); }
@@ -501,7 +503,8 @@
goal_builder.add_intake(intake_offset);
goal_builder.add_stilts(stilts_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
VerifyNearGoal();
@@ -550,7 +553,8 @@
goal_builder.add_intake(intake_offset);
goal_builder.add_stilts(stilts_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
// Give it a lot of time to get there.
@@ -593,7 +597,8 @@
goal_builder.add_intake(intake_offset);
goal_builder.add_stilts(stilts_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(8));
VerifyNearGoal();
@@ -630,7 +635,8 @@
goal_builder.add_intake(intake_offset);
goal_builder.add_stilts(stilts_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
superstructure_plant_.set_peak_elevator_velocity(23.0);
superstructure_plant_.set_peak_elevator_acceleration(0.2);
@@ -682,7 +688,8 @@
goal_builder.add_intake(intake_offset);
goal_builder.add_stilts(stilts_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
WaitUntilZeroed();
VerifyNearGoal();
@@ -743,7 +750,8 @@
goal_builder.add_intake(intake_offset);
goal_builder.add_stilts(stilts_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
// Give it a lot of time to get there.
@@ -783,7 +791,8 @@
goal_builder.add_stilts(stilts_offset);
goal_builder.add_roller_voltage(6.0);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(5));
@@ -818,7 +827,8 @@
goal_builder.add_stilts(stilts_offset);
goal_builder.add_roller_voltage(6.0);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(5));
@@ -860,7 +870,8 @@
goal_builder.add_stilts(stilts_offset);
goal_builder.add_suction(suction_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(Vacuum::kTimeAtHigherVoltage - chrono::milliseconds(10));
@@ -904,7 +915,8 @@
goal_builder.add_stilts(stilts_offset);
goal_builder.add_suction(suction_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
// Verify that at 0 pressure after short time voltage is still high
@@ -954,7 +966,8 @@
goal_builder.add_stilts(stilts_offset);
goal_builder.add_suction(suction_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
// Get a Gamepiece
@@ -991,7 +1004,8 @@
goal_builder.add_stilts(stilts_offset);
goal_builder.add_suction(suction_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
superstructure_plant_.set_simulated_pressure(1.0);
diff --git a/y2019/joystick_reader.cc b/y2019/joystick_reader.cc
index a92dd90..51aeffb 100644
--- a/y2019/joystick_reader.cc
+++ b/y2019/joystick_reader.cc
@@ -283,7 +283,8 @@
control_loops::drivetrain::SelectionHint::NONE);
}
}
- if (!builder.Send(target_selector_hint_builder.Finish())) {
+ if (builder.Send(target_selector_hint_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Failed to send target selector hint.\n");
}
}
@@ -297,7 +298,8 @@
localizer_control_builder.add_y(3.4);
localizer_control_builder.add_keep_current_theta(true);
- if (!builder.Send(localizer_control_builder.Finish())) {
+ if (builder.Send(localizer_control_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Failed to reset localizer.\n");
}
}
@@ -311,7 +313,8 @@
localizer_control_builder.add_y(-3.4);
localizer_control_builder.add_keep_current_theta(true);
- if (!builder.Send(localizer_control_builder.Finish())) {
+ if (builder.Send(localizer_control_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Failed to reset localizer.\n");
}
}
@@ -325,7 +328,8 @@
localizer_control_builder.add_y(3.4);
localizer_control_builder.add_theta(0.0);
- if (!builder.Send(localizer_control_builder.Finish())) {
+ if (builder.Send(localizer_control_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Failed to reset localizer.\n");
}
}
@@ -339,7 +343,8 @@
localizer_control_builder.add_y(3.4);
localizer_control_builder.add_theta(M_PI);
- if (!builder.Send(localizer_control_builder.Finish())) {
+ if (builder.Send(localizer_control_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Failed to reset localizer.\n");
}
}
@@ -353,7 +358,8 @@
localizer_control_builder.add_y(-3.4);
localizer_control_builder.add_theta(0.0);
- if (!builder.Send(localizer_control_builder.Finish())) {
+ if (builder.Send(localizer_control_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Failed to reset localizer.\n");
}
}
@@ -367,7 +373,8 @@
localizer_control_builder.add_y(-3.4);
localizer_control_builder.add_theta(M_PI);
- if (!builder.Send(localizer_control_builder.Finish())) {
+ if (builder.Send(localizer_control_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Failed to reset localizer.\n");
}
}
@@ -599,7 +606,8 @@
mutable_superstructure_goal->mutable_wrist()->mutate_unsafe_goal(
elevator_wrist_pos_.wrist);
- if (!main_superstructure_goal_builder.Send(superstructure_goal_offset)) {
+ if (main_superstructure_goal_builder.Send(superstructure_goal_offset) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Sending superstructure goal failed.\n");
}
@@ -611,7 +619,8 @@
{
auto builder = camera_log_sender_.MakeBuilder();
- builder.Send(CreateCameraLog(*builder.fbb(), data.IsPressed(kCameraLog)));
+ (void)builder.Send(
+ CreateCameraLog(*builder.fbb(), data.IsPressed(kCameraLog)));
}
}
diff --git a/y2019/wpilib_interface.cc b/y2019/wpilib_interface.cc
index 885bc12..da076f2 100644
--- a/y2019/wpilib_interface.cc
+++ b/y2019/wpilib_interface.cc
@@ -247,7 +247,7 @@
drivetrain_builder.add_right_speed(-drivetrain_velocity_translate(
drivetrain_right_encoder_->GetPeriod()));
- builder.Send(drivetrain_builder.Finish());
+ builder.CheckOk(builder.Send(drivetrain_builder.Finish()));
}
const auto values = constants::GetValues();
@@ -308,7 +308,7 @@
position_builder.add_platform_right_detect(
!platform_right_detect_->Get());
- builder.Send(position_builder.Finish());
+ builder.CheckOk(builder.Send(position_builder.Finish()));
}
{
@@ -326,7 +326,7 @@
auto_mode_builder.add_mode(mode);
- builder.Send(auto_mode_builder.Finish());
+ builder.CheckOk(builder.Send(auto_mode_builder.Finish()));
}
}
@@ -457,7 +457,7 @@
.time_since_epoch())
.count());
camera_frame_builder.add_camera(received.camera_index);
- builder.Send(camera_frame_builder.Finish());
+ builder.CheckOk(builder.Send(camera_frame_builder.Finish()));
}
if (dummy_spi_) {
@@ -652,7 +652,7 @@
pcm_.Flush();
to_log_builder.add_read_solenoids(pcm_.GetAll());
- builder.Send(to_log_builder.Finish());
+ (void)builder.Send(to_log_builder.Finish());
}
status_light_fetcher_.Fetch();
diff --git a/y2020/actors/autonomous_actor.cc b/y2020/actors/autonomous_actor.cc
index c8f1ebe..37d1ed7 100644
--- a/y2020/actors/autonomous_actor.cc
+++ b/y2020/actors/autonomous_actor.cc
@@ -189,7 +189,8 @@
localizer_control_builder.add_theta_uncertainty(0.00001);
LOG(INFO) << "User button pressed, x: " << start(0) << " y: " << start(1)
<< " theta: " << start(2);
- if (!builder.Send(localizer_control_builder.Finish())) {
+ if (builder.Send(localizer_control_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Failed to reset localizer.\n");
}
}
@@ -368,7 +369,8 @@
superstructure_builder.add_shooter_tracking(shooter_tracking_);
superstructure_builder.add_shooting(shooting_);
- if (!builder.Send(superstructure_builder.Finish())) {
+ if (builder.Send(superstructure_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Sending superstructure goal failed.\n");
}
}
@@ -394,7 +396,7 @@
bool AutonomousActor::WaitUntilAbsoluteBallsShot(int absolute_balls) {
::aos::time::PhasedLoop phased_loop(frc971::controls::kLoopFrequency,
event_loop()->monotonic_now(),
- frc971::controls::kLoopFrequency / 2);
+ ActorBase::kLoopOffset);
superstructure_status_fetcher_.Fetch();
CHECK(superstructure_status_fetcher_.get() != nullptr);
int last_balls = superstructure_status_fetcher_->shooter()->balls_shot();
diff --git a/y2020/actors/shooter_tuning_actor.cc b/y2020/actors/shooter_tuning_actor.cc
index fac55c6..a6c8d88 100644
--- a/y2020/actors/shooter_tuning_actor.cc
+++ b/y2020/actors/shooter_tuning_actor.cc
@@ -163,7 +163,8 @@
superstructure_builder.add_shooter(shooter_offset);
superstructure_builder.add_shooting(shooting_);
- if (!builder.Send(superstructure_builder.Finish())) {
+ if (builder.Send(superstructure_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Sending superstructure goal failed.\n");
}
}
diff --git a/y2020/constants.cc b/y2020/constants.cc
index a490e2d..b468492 100644
--- a/y2020/constants.cc
+++ b/y2020/constants.cc
@@ -35,9 +35,9 @@
r->shot_interpolation_table =
InterpolationTable<Values::ShotParams>({{1.128, {0.01, 225, 170}},
{1.509, {0.01, 215, 160}},
- {1.89, {0.01, 215, 155}},
- {2.15, {0.093, 210, 170}},
- {2.68, {0.195, 240, 190}},
+ {1.89, {0.01, 250, 175}},
+ {2.15, {0.06, 235, 170}},
+ {2.68, {0.195, 250, 200}},
{3.19, {0.27, 250, 220}},
{3.93, {0.365, 285, 250}},
{4.63, {0.42, 320, 280}},
@@ -141,9 +141,9 @@
turret->potentiometer_offset = 5.52519370141247 + 0.00853506822980376 +
0.0109413725126625 - 0.223719825811759 +
0.261356551915472 - 0.0490168170767848 -
- 0.179342788816305;
+ 0.179342788816305 + 0.800488361764795;
turret_params->zeroing_constants.measured_absolute_position =
- 2.75051496009509;
+ 2.55091426937561;
hood->zeroing_constants.measured_absolute_position = 0.0102882878327271;
hood->zeroing_constants.single_turn_measured_absolute_position =
diff --git a/y2020/control_loops/drivetrain/localizer.cc b/y2020/control_loops/drivetrain/localizer.cc
index d4d5f72..505a598 100644
--- a/y2020/control_loops/drivetrain/localizer.cc
+++ b/y2020/control_loops/drivetrain/localizer.cc
@@ -199,7 +199,7 @@
builder.MakeBuilder<LocalizerDebug>();
debug_builder.add_matches(vector_offset);
debug_builder.add_statistics(stats_offset);
- CHECK(builder.Send(debug_builder.Finish()));
+ builder.CheckOk(builder.Send(debug_builder.Finish()));
}
}
@@ -303,7 +303,8 @@
ImageMatchDebug::Builder builder(*fbb);
builder.add_camera(camera_index);
builder.add_pose_index(index);
- builder.add_local_image_capture_time_ns(result.image_monotonic_timestamp_ns());
+ builder.add_local_image_capture_time_ns(
+ result.image_monotonic_timestamp_ns());
builder.add_roborio_image_capture_time_ns(
capture_time.time_since_epoch().count());
builder.add_image_age_sec(aos::time::DurationInSeconds(now - capture_time));
@@ -390,8 +391,8 @@
(2.0 * dt_config_.robot_radius) +
(is_turret ? turret_data.velocity : 0.0));
- // Pay less attention to cameras that aren't actually on the turret, since they
- // are less useful when it comes to actually making shots.
+ // Pay less attention to cameras that aren't actually on the turret, since
+ // they are less useful when it comes to actually making shots.
if (!is_turret) {
noises *= 3.0;
} else {
diff --git a/y2020/control_loops/drivetrain/localizer_plotter.ts b/y2020/control_loops/drivetrain/localizer_plotter.ts
index e6729dd..86465a5 100644
--- a/y2020/control_loops/drivetrain/localizer_plotter.ts
+++ b/y2020/control_loops/drivetrain/localizer_plotter.ts
@@ -12,8 +12,6 @@
import Schema = configuration.reflection.Schema;
const TIME = AosPlotter.TIME;
-const DEFAULT_WIDTH = AosPlotter.DEFAULT_WIDTH;
-const DEFAULT_HEIGHT = AosPlotter.DEFAULT_HEIGHT;
export function plotLocalizer(conn: Connection, element: Element) : void {
@@ -27,11 +25,7 @@
const superstructureStatus = aosPlotter.addMessageSource(
'/superstructure', 'y2020.control_loops.superstructure.Status');
- var currentTop = 0;
-
- const imageAcceptedPlot = aosPlotter.addPlot(
- element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
- currentTop += DEFAULT_HEIGHT;
+ const imageAcceptedPlot = aosPlotter.addPlot(element);
imageAcceptedPlot.plot.getAxisLabels().setTitle('Image Acceptance');
imageAcceptedPlot.plot.getAxisLabels().setXLabel(TIME);
imageAcceptedPlot.plot.getAxisLabels().setYLabel('[bool]');
@@ -41,9 +35,7 @@
.setColor(RED)
.setDrawLine(false);
- const impliedXPlot = aosPlotter.addPlot(
- element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
- currentTop += DEFAULT_HEIGHT;
+ const impliedXPlot = aosPlotter.addPlot(element);
impliedXPlot.plot.getAxisLabels().setTitle('Implied Robot X');
impliedXPlot.plot.getAxisLabels().setXLabel(TIME);
impliedXPlot.plot.getAxisLabels().setYLabel('[m]');
@@ -58,9 +50,7 @@
.setColor(GREEN)
.setLabel('Localizer X');
- const impliedYPlot = aosPlotter.addPlot(
- element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
- currentTop += DEFAULT_HEIGHT;
+ const impliedYPlot = aosPlotter.addPlot(element);
impliedYPlot.plot.getAxisLabels().setTitle('Implied Robot Y');
impliedYPlot.plot.getAxisLabels().setXLabel(TIME);
impliedYPlot.plot.getAxisLabels().setYLabel('[m]');
@@ -75,9 +65,7 @@
.setColor(GREEN)
.setLabel('Localizer Y');
- const impliedHeadingPlot = aosPlotter.addPlot(
- element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
- currentTop += DEFAULT_HEIGHT;
+ const impliedHeadingPlot = aosPlotter.addPlot(element);
impliedHeadingPlot.plot.getAxisLabels().setTitle('Implied Robot Theta');
impliedHeadingPlot.plot.getAxisLabels().setXLabel(TIME);
impliedHeadingPlot.plot.getAxisLabels().setYLabel('[rad]');
@@ -89,9 +77,7 @@
.setColor(GREEN)
.setLabel('Localizer Theta');
- const impliedTurretGoalPlot = aosPlotter.addPlot(
- element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
- currentTop += DEFAULT_HEIGHT;
+ const impliedTurretGoalPlot = aosPlotter.addPlot(element);
impliedTurretGoalPlot.plot.getAxisLabels().setTitle('Implied Turret Goal');
impliedTurretGoalPlot.plot.getAxisLabels().setXLabel(TIME);
impliedTurretGoalPlot.plot.getAxisLabels().setYLabel('[rad]');
@@ -102,9 +88,7 @@
impliedTurretGoalPlot.addMessageLine(superstructureStatus, ['aimer', 'turret_position'])
.setColor(GREEN);
- const imageTimingPlot = aosPlotter.addPlot(
- element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
- currentTop += DEFAULT_HEIGHT;
+ const imageTimingPlot = aosPlotter.addPlot(element);
imageTimingPlot.plot.getAxisLabels().setTitle('Timing Plot');
imageTimingPlot.plot.getAxisLabels().setXLabel(TIME);
imageTimingPlot.plot.getAxisLabels().setYLabel('[ns]');
diff --git a/y2020/control_loops/drivetrain/localizer_test.cc b/y2020/control_loops/drivetrain/localizer_test.cc
index 8ccb55c..cc04428 100644
--- a/y2020/control_loops/drivetrain/localizer_test.cc
+++ b/y2020/control_loops/drivetrain/localizer_test.cc
@@ -192,7 +192,8 @@
auto statistics_builder =
builder.MakeBuilder<aos::message_bridge::ServerStatistics>();
statistics_builder.add_connections(connections_offset);
- builder.Send(statistics_builder.Finish());
+ CHECK_EQ(builder.Send(statistics_builder.Finish()),
+ aos::RawSender::Error::kOk);
},
chrono::milliseconds(500));
@@ -210,9 +211,10 @@
auto turret_offset = turret_builder.Finish();
auto status_builder = builder.MakeBuilder<superstructure::Status>();
status_builder.add_turret(turret_offset);
- builder.Send(status_builder.Finish());
+ CHECK_EQ(builder.Send(status_builder.Finish()),
+ aos::RawSender::Error::kOk);
},
- chrono::milliseconds(5));
+ frc971::controls::kLoopFrequency);
test_event_loop_->OnRun([this]() { SetStartingPosition({3.0, 2.0, 0.0}); });
@@ -341,8 +343,10 @@
std::get<0>(camera_delay_queue_.front()) <
monotonic_now() - camera_latency) {
auto builder = camera_sender_.MakeBuilder();
- ASSERT_TRUE(builder.Send(ImageMatchResult::Pack(
- *builder.fbb(), std::get<1>(camera_delay_queue_.front()).get())));
+ ASSERT_EQ(
+ builder.Send(ImageMatchResult::Pack(
+ *builder.fbb(), std::get<1>(camera_delay_queue_.front()).get())),
+ aos::RawSender::Error::kOk);
camera_delay_queue_.pop();
}
}
@@ -402,7 +406,8 @@
drivetrain_builder.add_left_goal(left);
drivetrain_builder.add_right_goal(right);
- EXPECT_TRUE(builder.Send(drivetrain_builder.Finish()));
+ EXPECT_EQ(builder.Send(drivetrain_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
private:
@@ -608,8 +613,8 @@
[this](int) {
auto builder = camera_sender_.MakeBuilder();
ImageMatchResultT image;
- ASSERT_TRUE(
- builder.Send(ImageMatchResult::Pack(*builder.fbb(), &image)));
+ ASSERT_EQ(builder.Send(ImageMatchResult::Pack(*builder.fbb(), &image)),
+ aos::RawSender::Error::kOk);
},
std::chrono::milliseconds(40));
test_event_loop_
diff --git a/y2020/control_loops/superstructure/accelerator_plotter.ts b/y2020/control_loops/superstructure/accelerator_plotter.ts
index b625a1c..e1bc5bc 100644
--- a/y2020/control_loops/superstructure/accelerator_plotter.ts
+++ b/y2020/control_loops/superstructure/accelerator_plotter.ts
@@ -21,8 +21,7 @@
// Robot Enabled/Disabled and Mode
const velocityPlot =
- aosPlotter.addPlot(element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
- currentTop += DEFAULT_HEIGHT / 2;
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
velocityPlot.plot.getAxisLabels().setTitle('Velocity');
velocityPlot.plot.getAxisLabels().setXLabel(TIME);
velocityPlot.plot.getAxisLabels().setYLabel('rad/s');
@@ -38,8 +37,7 @@
velocityPlot.addMessageLine(status, ['shooter', 'accelerator_right', 'dt_angular_velocity']).setColor(BLUE).setPointSize(0.0);
const voltagePlot =
- aosPlotter.addPlot(element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
- currentTop += DEFAULT_HEIGHT / 2;
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
voltagePlot.plot.getAxisLabels().setTitle('Voltage');
voltagePlot.plot.getAxisLabels().setXLabel(TIME);
voltagePlot.plot.getAxisLabels().setYLabel('Volts');
@@ -53,8 +51,7 @@
const currentPlot =
- aosPlotter.addPlot(element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
- currentTop += DEFAULT_HEIGHT / 2;
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
currentPlot.plot.getAxisLabels().setTitle('Current');
currentPlot.plot.getAxisLabels().setXLabel(TIME);
currentPlot.plot.getAxisLabels().setYLabel('Amps');
diff --git a/y2020/control_loops/superstructure/finisher_plotter.ts b/y2020/control_loops/superstructure/finisher_plotter.ts
index c9420ae..474c8a4 100644
--- a/y2020/control_loops/superstructure/finisher_plotter.ts
+++ b/y2020/control_loops/superstructure/finisher_plotter.ts
@@ -17,12 +17,9 @@
const pdpValues = aosPlotter.addMessageSource('/roborio/aos', 'frc971.PDPValues');
const robotState = aosPlotter.addMessageSource('/aos', 'aos.RobotState');
- var currentTop = 0;
-
// Robot Enabled/Disabled and Mode
const velocityPlot =
- aosPlotter.addPlot(element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
- currentTop += DEFAULT_HEIGHT / 2;
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
velocityPlot.plot.getAxisLabels().setTitle('Velocity');
velocityPlot.plot.getAxisLabels().setXLabel(TIME);
velocityPlot.plot.getAxisLabels().setYLabel('rad/s');
@@ -35,8 +32,7 @@
velocityPlot.addMessageLine(status, ['shooter', 'finisher', 'dt_angular_velocity']).setColor(PINK).setPointSize(0.0);
const ballsShotPlot =
- aosPlotter.addPlot(element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
- currentTop += DEFAULT_HEIGHT / 2;
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
ballsShotPlot.plot.getAxisLabels().setTitle('Balls Shot');
ballsShotPlot.plot.getAxisLabels().setXLabel(TIME);
ballsShotPlot.plot.getAxisLabels().setYLabel('Balls');
@@ -45,8 +41,7 @@
const voltagePlot =
- aosPlotter.addPlot(element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
- currentTop += DEFAULT_HEIGHT / 2;
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
voltagePlot.plot.getAxisLabels().setTitle('Voltage');
voltagePlot.plot.getAxisLabels().setXLabel(TIME);
voltagePlot.plot.getAxisLabels().setYLabel('Volts');
@@ -58,8 +53,7 @@
const currentPlot =
- aosPlotter.addPlot(element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
- currentTop += DEFAULT_HEIGHT / 2;
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
currentPlot.plot.getAxisLabels().setTitle('Current');
currentPlot.plot.getAxisLabels().setXLabel(TIME);
currentPlot.plot.getAxisLabels().setYLabel('Amps');
diff --git a/y2020/control_loops/superstructure/hood_plotter.ts b/y2020/control_loops/superstructure/hood_plotter.ts
index 6c8025d..55b1ba8 100644
--- a/y2020/control_loops/superstructure/hood_plotter.ts
+++ b/y2020/control_loops/superstructure/hood_plotter.ts
@@ -20,7 +20,7 @@
// Robot Enabled/Disabled and Mode
const positionPlot =
- aosPlotter.addPlot(element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
currentTop += DEFAULT_HEIGHT / 2;
positionPlot.plot.getAxisLabels().setTitle('Position');
positionPlot.plot.getAxisLabels().setXLabel(TIME);
@@ -35,7 +35,7 @@
positionPlot.addMessageLine(status, ['hood', 'estimator_state', 'position']).setColor(CYAN).setPointSize(0.0);
const voltagePlot =
- aosPlotter.addPlot(element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
currentTop += DEFAULT_HEIGHT / 2;
voltagePlot.plot.getAxisLabels().setTitle('Voltage');
voltagePlot.plot.getAxisLabels().setXLabel(TIME);
diff --git a/y2020/control_loops/superstructure/shooter/flywheel_controller.cc b/y2020/control_loops/superstructure/shooter/flywheel_controller.cc
index 1fb943f..a25ed53 100644
--- a/y2020/control_loops/superstructure/shooter/flywheel_controller.cc
+++ b/y2020/control_loops/superstructure/shooter/flywheel_controller.cc
@@ -42,7 +42,7 @@
const double a = 1;
const double b = -bemf_voltage;
const double c_positive = -70.0 * 12.0 * resistance_;
- const double c_negative = -40.0 * 12.0 * resistance_;
+ const double c_negative = -25.0 * 12.0 * resistance_;
// Root is always positive.
const double root_positive = std::sqrt(b * b - 4.0 * a * c_positive);
@@ -52,8 +52,8 @@
// Limit to the battery voltage and the current limit voltage.
mutable_U(0, 0) = std::clamp(U(0, 0), lower_limit, upper_limit);
- if (R(0) > 50.0) {
- mutable_U(0, 0) = std::clamp(U(0, 0), -0.8, 12.0);
+ if (R(1) > 50.0) {
+ mutable_U(0, 0) = std::clamp(U(0, 0), 1.0, 12.0);
} else {
mutable_U(0, 0) = std::clamp(U(0, 0), 0.0, 12.0);
}
diff --git a/y2020/control_loops/superstructure/shooter/shooter_tuning_params_setter.cc b/y2020/control_loops/superstructure/shooter/shooter_tuning_params_setter.cc
index 3c6158e..68bb243 100644
--- a/y2020/control_loops/superstructure/shooter/shooter_tuning_params_setter.cc
+++ b/y2020/control_loops/superstructure/shooter/shooter_tuning_params_setter.cc
@@ -52,7 +52,7 @@
tuning_params_builder.add_finisher(finisher_params);
tuning_params_builder.add_accelerator(accelerator_params);
tuning_params_builder.add_balls_per_iteration(FLAGS_balls_per_iteration);
- CHECK(builder.Send(tuning_params_builder.Finish()));
+ builder.CheckOk(builder.Send(tuning_params_builder.Finish()));
return 0;
}
diff --git a/y2020/control_loops/superstructure/superstructure.cc b/y2020/control_loops/superstructure/superstructure.cc
index dce958f..f70f107 100644
--- a/y2020/control_loops/superstructure/superstructure.cc
+++ b/y2020/control_loops/superstructure/superstructure.cc
@@ -81,9 +81,9 @@
CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
*hood_goal.fbb(), shot_params.hood_angle));
- shooter_goal.Finish(CreateShooterGoal(
- *shooter_goal.fbb(), shot_params.velocity_accelerator,
- shot_params.velocity_finisher));
+ shooter_goal.Finish(CreateShooterGoal(*shooter_goal.fbb(),
+ shot_params.velocity_accelerator,
+ shot_params.velocity_finisher));
} else {
hood_goal.Finish(
frc971::control_loops::
@@ -105,6 +105,8 @@
output != nullptr ? &(output_struct.hood_voltage) : nullptr,
status->fbb());
+ bool intake_out_jostle = false;
+
if (unsafe_goal != nullptr) {
if (unsafe_goal->shooting() &&
shooting_start_time_ == aos::monotonic_clock::min_time) {
@@ -118,7 +120,9 @@
if ((position_timestamp - shooting_start_time_) % (kPeriod * 2) <
kPeriod) {
intake_joint_.set_min_position(-0.25);
+ intake_out_jostle = false;
} else {
+ intake_out_jostle = true;
intake_joint_.set_min_position(-0.75);
}
} else {
@@ -238,7 +242,9 @@
status_builder.add_aimer(aimer_status_offset);
status_builder.add_subsystems_not_ready(subsystems_not_ready_offset);
- status->Send(status_builder.Finish());
+ status_builder.add_send_failures(status_failure_counter_.failures());
+
+ status_failure_counter_.Count(status->Send(status_builder.Finish()));
if (output != nullptr) {
output_struct.washing_machine_spinner_voltage = 0.0;
@@ -278,13 +284,24 @@
output_struct.feeder_voltage = -12.0;
}
+ if (unsafe_goal->has_feed_voltage_override()) {
+ output_struct.feeder_voltage = unsafe_goal->feed_voltage_override();
+ output_struct.washing_machine_spinner_voltage = -5.0;
+ preloading_timeout_ = position_timestamp;
+ }
+
if (unsafe_goal->shooting()) {
if ((shooter_.ready() ||
(!has_turret_ && shooter_.accelerator_ready())) &&
turret_ready) {
output_struct.feeder_voltage = 12.0;
}
- output_struct.washing_machine_spinner_voltage = 5.0;
+
+ if (!intake_out_jostle) {
+ output_struct.washing_machine_spinner_voltage = 5.0;
+ } else {
+ output_struct.washing_machine_spinner_voltage = -5.0;
+ }
output_struct.intake_roller_voltage = 3.0;
} else {
output_struct.intake_roller_voltage =
@@ -293,7 +310,7 @@
}
}
- output->Send(Output::Pack(*output->fbb(), &output_struct));
+ output->CheckOk(output->Send(Output::Pack(*output->fbb(), &output_struct)));
}
}
diff --git a/y2020/control_loops/superstructure/superstructure.h b/y2020/control_loops/superstructure/superstructure.h
index 7f565cf..5d371fc 100644
--- a/y2020/control_loops/superstructure/superstructure.h
+++ b/y2020/control_loops/superstructure/superstructure.h
@@ -80,6 +80,8 @@
bool has_turret_ = true;
+ aos::SendFailureCounter status_failure_counter_;
+
DISALLOW_COPY_AND_ASSIGN(Superstructure);
};
diff --git a/y2020/control_loops/superstructure/superstructure_goal.fbs b/y2020/control_loops/superstructure/superstructure_goal.fbs
index 990234a..f2b9096 100644
--- a/y2020/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2020/control_loops/superstructure/superstructure_goal.fbs
@@ -55,6 +55,9 @@
// Positive is deploying climber and to climb; cannot run in reverse
climber_voltage:float (id: 10);
+
+ // Feed voltage override.
+ feed_voltage_override:float (id: 13);
}
root_type Goal;
diff --git a/y2020/control_loops/superstructure/superstructure_lib_test.cc b/y2020/control_loops/superstructure/superstructure_lib_test.cc
index 0e51b7b..e41c421 100644
--- a/y2020/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2020/control_loops/superstructure/superstructure_lib_test.cc
@@ -10,6 +10,7 @@
#include "frc971/control_loops/control_loop_test.h"
#include "frc971/control_loops/position_sensor_sim.h"
#include "frc971/control_loops/team_number_test_environment.h"
+#include "glog/logging.h"
#include "gtest/gtest.h"
#include "y2020/constants.h"
#include "y2020/control_loops/superstructure/accelerator/accelerator_plant.h"
@@ -207,7 +208,8 @@
position_builder.add_intake_beambreak_triggered(
intake_beambreak_triggered_);
- builder.Send(position_builder.Finish());
+ CHECK_EQ(builder.Send(position_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
double hood_position() const { return hood_plant_->X(0, 0); }
@@ -571,7 +573,8 @@
goal_builder.add_roller_voltage(roller_voltage);
goal_builder.add_roller_speed_compensation(roller_speed_compensation);
goal_builder.add_shooting(shooting);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(1));
superstructure_output_fetcher_.Fetch();
@@ -590,7 +593,7 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_shooter(shooter_goal_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ builder.CheckOk(builder.Send(goal_builder.Finish()));
},
dt());
}
@@ -683,7 +686,8 @@
goal_builder.add_turret(turret_offset);
goal_builder.add_shooter(shooter_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
VerifyNearGoal();
@@ -729,7 +733,8 @@
goal_builder.add_turret(turret_offset);
goal_builder.add_shooter(shooter_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
// Give it a lot of time to get there.
@@ -770,7 +775,8 @@
goal_builder.add_turret(turret_offset);
goal_builder.add_shooter(shooter_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(8));
VerifyNearGoal();
@@ -804,7 +810,8 @@
goal_builder.add_turret(turret_offset);
goal_builder.add_shooter(shooter_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
superstructure_plant_.set_peak_hood_velocity(23.0);
// 30 hz sin wave on the hood causes acceleration to be ignored.
@@ -858,7 +865,8 @@
goal_builder.add_shooter(shooter_offset);
goal_builder.add_shooting(true);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
// In the beginning, the finisher and accelerator should not be ready
@@ -903,7 +911,8 @@
goal_builder.add_intake(intake_offset);
goal_builder.add_shooter(shooter_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
// Give it a lot of time to get there.
@@ -952,7 +961,8 @@
goal_builder.add_climber_voltage(-10.0);
goal_builder.add_turret(turret_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
// The turret needs to move out of the way first. This takes some time.
@@ -976,7 +986,8 @@
goal_builder.add_climber_voltage(10.0);
goal_builder.add_turret(turret_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(1));
@@ -999,7 +1010,7 @@
goal_builder.add_intake_preloading(true);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ builder.CheckOk(builder.Send(goal_builder.Finish()));
}
superstructure_plant_.set_intake_beambreak_triggered(false);
@@ -1233,7 +1244,7 @@
std::sin(kShotAngle) * kShotDistance);
drivetrain_status_builder.add_localizer(localizer_offset);
- ASSERT_TRUE(builder.Send(drivetrain_status_builder.Finish()));
+ builder.CheckOk(builder.Send(drivetrain_status_builder.Finish()));
},
frc971::controls::kLoopFrequency);
@@ -1255,7 +1266,8 @@
joystick_builder.add_alliance(GetParam());
- ASSERT_TRUE(builder.Send(joystick_builder.Finish()));
+ ASSERT_EQ(builder.Send(joystick_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
};
@@ -1277,7 +1289,8 @@
goal_builder.add_turret_tracking(true);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
{
@@ -1299,7 +1312,8 @@
status_builder.add_theta(0.0);
status_builder.add_localizer(localizer_offset);
- ASSERT_TRUE(builder.Send(status_builder.Finish()));
+ ASSERT_EQ(builder.Send(status_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
// Give it time to stabilize.
@@ -1333,7 +1347,8 @@
goal_builder.add_shooter(shooter_goal);
goal_builder.add_hood(hood_offset);
- builder.Send(goal_builder.Finish());
+ CHECK_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -1381,7 +1396,8 @@
status_builder.add_theta(0.0);
status_builder.add_localizer(localizer_offset);
- ASSERT_TRUE(builder.Send(status_builder.Finish()));
+ ASSERT_EQ(builder.Send(status_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
{
auto builder = superstructure_goal_sender_.MakeBuilder();
@@ -1399,7 +1415,8 @@
goal_builder.add_shooter_tracking(true);
goal_builder.add_hood_tracking(true);
- builder.Send(goal_builder.Finish());
+ CHECK_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -1450,7 +1467,8 @@
status_builder.add_theta(0.0);
status_builder.add_localizer(localizer_offset);
- ASSERT_TRUE(builder.Send(status_builder.Finish()));
+ ASSERT_EQ(builder.Send(status_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
{
auto builder = superstructure_goal_sender_.MakeBuilder();
@@ -1468,7 +1486,8 @@
goal_builder.add_shooter_tracking(true);
goal_builder.add_hood_tracking(true);
- builder.Send(goal_builder.Finish());
+ CHECK_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
diff --git a/y2020/control_loops/superstructure/superstructure_status.fbs b/y2020/control_loops/superstructure/superstructure_status.fbs
index 4a977b8..611661c 100644
--- a/y2020/control_loops/superstructure/superstructure_status.fbs
+++ b/y2020/control_loops/superstructure/superstructure_status.fbs
@@ -87,6 +87,9 @@
// Vector of the subsystems that are not at goal and are preventing shooting.
subsystems_not_ready:[Subsystem] (id: 8);
+
+ // Total number of status send failures.
+ send_failures:uint64 (id: 9);
}
root_type Status;
diff --git a/y2020/control_loops/superstructure/turret_plotter.ts b/y2020/control_loops/superstructure/turret_plotter.ts
index 948ca97..34279ba 100644
--- a/y2020/control_loops/superstructure/turret_plotter.ts
+++ b/y2020/control_loops/superstructure/turret_plotter.ts
@@ -12,8 +12,6 @@
import Schema = configuration.reflection.Schema;
const TIME = AosPlotter.TIME;
-const DEFAULT_WIDTH = AosPlotter.DEFAULT_WIDTH;
-const DEFAULT_HEIGHT = AosPlotter.DEFAULT_HEIGHT;
class DerivativeMessageHandler extends MessageHandler {
// Calculated magnitude of the measured acceleration from the IMU.
@@ -71,11 +69,7 @@
const localizerDebug =
aosPlotter.addMessageSource('/drivetrain', 'y2020.control_loops.drivetrain.LocalizerDebug');
- var currentTop = 0;
-
- const turretPosPlot = aosPlotter.addPlot(
- element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
- currentTop += DEFAULT_HEIGHT;
+ const turretPosPlot = aosPlotter.addPlot(element);
turretPosPlot.plot.getAxisLabels().setTitle('Turret Position');
turretPosPlot.plot.getAxisLabels().setXLabel(TIME);
turretPosPlot.plot.getAxisLabels().setYLabel('rad');
@@ -93,9 +87,7 @@
.setColor(BLUE)
.setDrawLine(false);
- const turretVelPlot = aosPlotter.addPlot(
- element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
- currentTop += DEFAULT_HEIGHT;
+ const turretVelPlot = aosPlotter.addPlot(element);
turretVelPlot.plot.getAxisLabels().setTitle('Turret Velocity');
turretVelPlot.plot.getAxisLabels().setXLabel(TIME);
turretVelPlot.plot.getAxisLabels().setYLabel('rad / sec');
@@ -110,9 +102,7 @@
.setColor(BLUE)
.setDrawLine(false);
- const turretAccelPlot = aosPlotter.addPlot(
- element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
- currentTop += DEFAULT_HEIGHT;
+ const turretAccelPlot = aosPlotter.addPlot(element);
turretAccelPlot.plot.getAxisLabels().setTitle('Turret Acceleration');
turretAccelPlot.plot.getAxisLabels().setXLabel(TIME);
turretAccelPlot.plot.getAxisLabels().setYLabel('rad / sec / sec');
@@ -121,9 +111,7 @@
.setColor(RED)
.setPointSize(0.0);
- const turretVoltagePlot = aosPlotter.addPlot(
- element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
- currentTop += DEFAULT_HEIGHT;
+ const turretVoltagePlot = aosPlotter.addPlot(element);
turretVoltagePlot.plot.getAxisLabels().setTitle('Turret Voltage');
turretVoltagePlot.plot.getAxisLabels().setXLabel(TIME);
turretVoltagePlot.plot.getAxisLabels().setYLabel('V');
@@ -141,9 +129,7 @@
.setColor(RED)
.setPointSize(0.0);
- const currentPlot = aosPlotter.addPlot(
- element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
- currentTop += DEFAULT_HEIGHT;
+ const currentPlot = aosPlotter.addPlot(element);
currentPlot.plot.getAxisLabels().setTitle('Current');
currentPlot.plot.getAxisLabels().setXLabel(TIME);
currentPlot.plot.getAxisLabels().setYLabel('Amps');
@@ -154,9 +140,7 @@
.setPointSize(0.0);
- const targetDistancePlot = aosPlotter.addPlot(
- element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
- currentTop += DEFAULT_HEIGHT;
+ const targetDistancePlot = aosPlotter.addPlot(element);
targetDistancePlot.plot.getAxisLabels().setTitle('Target distance');
targetDistancePlot.plot.getAxisLabels().setXLabel(TIME);
targetDistancePlot.plot.getAxisLabels().setYLabel('m');
@@ -165,9 +149,7 @@
.setColor(RED)
.setPointSize(0.0);
- const targetChoicePlot = aosPlotter.addPlot(
- element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
- currentTop += DEFAULT_HEIGHT;
+ const targetChoicePlot = aosPlotter.addPlot(element);
targetChoicePlot.plot.getAxisLabels().setTitle('Target choice');
targetChoicePlot.plot.getAxisLabels().setXLabel(TIME);
targetChoicePlot.plot.getAxisLabels().setYLabel('[bool]');
@@ -177,9 +159,7 @@
.setColor(RED)
.setPointSize(0.0);
- const imageAcceptedPlot = aosPlotter.addPlot(
- element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
- currentTop += DEFAULT_HEIGHT;
+ const imageAcceptedPlot = aosPlotter.addPlot(element);
imageAcceptedPlot.plot.getAxisLabels().setTitle('Image Acceptance');
imageAcceptedPlot.plot.getAxisLabels().setXLabel(TIME);
imageAcceptedPlot.plot.getAxisLabels().setYLabel('[bool]');
diff --git a/y2020/joystick_reader.cc b/y2020/joystick_reader.cc
index dd98e63..b610b64 100644
--- a/y2020/joystick_reader.cc
+++ b/y2020/joystick_reader.cc
@@ -87,7 +87,8 @@
localizer_control_builder.add_theta_uncertainty(10.0);
localizer_control_builder.add_theta(0.0);
localizer_control_builder.add_keep_current_theta(false);
- if (!builder.Send(localizer_control_builder.Finish())) {
+ if (builder.Send(localizer_control_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Failed to reset blue localizer.\n");
}
}
@@ -103,7 +104,8 @@
localizer_control_builder.add_theta_uncertainty(10.0);
localizer_control_builder.add_theta(M_PI);
localizer_control_builder.add_keep_current_theta(false);
- if (!builder.Send(localizer_control_builder.Finish())) {
+ if (builder.Send(localizer_control_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Failed to reset red localizer.\n");
}
}
@@ -129,7 +131,8 @@
frc971::zeroing::Wrap(drivetrain_status->theta(), 0, M_PI);
localizer_control_builder.add_theta(new_theta);
localizer_control_builder.add_theta_uncertainty(10.0);
- if (!builder.Send(localizer_control_builder.Finish())) {
+ if (builder.Send(localizer_control_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Failed to reset localizer.\n");
}
}
@@ -292,6 +295,9 @@
superstructure_goal_builder.add_shooter(shooter_offset);
superstructure_goal_builder.add_shooting(data.IsPressed(kFeed) ||
data.IsPressed(kFeedDriver));
+ if (data.IsPressed(kSpit)) {
+ superstructure_goal_builder.add_feed_voltage_override(-7.0);
+ }
superstructure_goal_builder.add_climber_voltage(climber_speed);
superstructure_goal_builder.add_turret_tracking(turret_tracking);
@@ -303,7 +309,8 @@
data.IsPressed(kFeedDriver)));
superstructure_goal_builder.add_intake_preloading(preload_intake);
- if (!builder.Send(superstructure_goal_builder.Finish())) {
+ if (builder.Send(superstructure_goal_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Sending superstructure goal failed.\n");
}
}
diff --git a/y2020/setpoint_setter.cc b/y2020/setpoint_setter.cc
index 1e1a7b8..e04fe41 100644
--- a/y2020/setpoint_setter.cc
+++ b/y2020/setpoint_setter.cc
@@ -1,6 +1,7 @@
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
#include "gflags/gflags.h"
+#include "glog/logging.h"
#include "y2020/setpoint_generated.h"
DEFINE_double(accelerator, 250.0, "Accelerator speed");
@@ -29,7 +30,7 @@
setpoint_builder.add_finisher(FLAGS_finisher);
setpoint_builder.add_hood(FLAGS_hood);
setpoint_builder.add_turret(FLAGS_turret);
- builder.Send(setpoint_builder.Finish());
+ builder.CheckOk(builder.Send(setpoint_builder.Finish()));
return 0;
}
diff --git a/y2020/vision/BUILD b/y2020/vision/BUILD
index 00dd791..922e26f 100644
--- a/y2020/vision/BUILD
+++ b/y2020/vision/BUILD
@@ -39,8 +39,25 @@
cc_binary(
name = "camera_reader",
srcs = [
+ "camera_reader_main.cc",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//y2020:__subpackages__"],
+ deps = [
+ ":camera_reader_lib",
+ "//aos:init",
+ "//aos/events:shm_event_loop",
+ ],
+)
+
+cc_library(
+ name = "camera_reader_lib",
+ srcs = [
"camera_reader.cc",
],
+ hdrs = [
+ "camera_reader.h",
+ ],
data = [
"//y2020:config",
],
@@ -50,8 +67,7 @@
":v4l2_reader",
":vision_fbs",
"//aos:flatbuffer_merge",
- "//aos:init",
- "//aos/events:shm_event_loop",
+ "//aos/events:event_loop",
"//aos/network:team_number",
"//third_party:opencv",
"//y2020/vision/sift:sift971",
diff --git a/y2020/vision/camera_reader.cc b/y2020/vision/camera_reader.cc
index e908a47..64e7948 100644
--- a/y2020/vision/camera_reader.cc
+++ b/y2020/vision/camera_reader.cc
@@ -1,12 +1,13 @@
+#include "y2020/vision/camera_reader.h"
+
#include <math.h>
#include <opencv2/calib3d.hpp>
#include <opencv2/features2d.hpp>
#include <opencv2/imgproc.hpp>
-#include "aos/events/shm_event_loop.h"
+#include "aos/events/event_loop.h"
#include "aos/flatbuffer_merge.h"
-#include "aos/init.h"
#include "aos/network/team_number.h"
#include "y2020/vision/sift/sift971.h"
#include "y2020/vision/sift/sift_generated.h"
@@ -15,10 +16,6 @@
#include "y2020/vision/v4l2_reader.h"
#include "y2020/vision/vision_generated.h"
-// config used to allow running camera_reader independently. E.g.,
-// bazel run //y2020/vision:camera_reader -- --config y2020/config.json
-// --override_hostname pi-7971-1 --ignore_timestamps true
-DEFINE_string(config, "config.json", "Path to the config file to use.");
DEFINE_bool(skip_sift, false,
"If true don't run any feature extraction. Just forward images.");
DEFINE_bool(ransac_pose, false,
@@ -28,155 +25,6 @@
namespace frc971 {
namespace vision {
-namespace {
-
-class CameraReader {
- public:
- CameraReader(aos::EventLoop *event_loop,
- const sift::TrainingData *training_data, V4L2Reader *reader,
- const cv::Ptr<cv::flann::IndexParams> &index_params,
- const cv::Ptr<cv::flann::SearchParams> &search_params)
- : event_loop_(event_loop),
- training_data_(training_data),
- camera_calibration_(FindCameraCalibration()),
- reader_(reader),
- image_sender_(event_loop->MakeSender<CameraImage>("/camera")),
- result_sender_(
- event_loop->MakeSender<sift::ImageMatchResult>("/camera")),
- detailed_result_sender_(
- event_loop->MakeSender<sift::ImageMatchResult>("/camera/detailed")),
- read_image_timer_(event_loop->AddTimer([this]() { ReadImage(); })) {
- for (int ii = 0; ii < number_training_images(); ++ii) {
- matchers_.push_back(cv::FlannBasedMatcher(index_params, search_params));
- prev_camera_field_R_vec_list_.push_back(cv::Mat::zeros(3, 1, CV_32F));
- prev_camera_field_T_list_.push_back(cv::Mat::zeros(3, 1, CV_32F));
- }
- CopyTrainingFeatures();
-
- for (auto &matcher : matchers_) {
- matcher.train();
- }
-
- event_loop->OnRun(
- [this]() { read_image_timer_->Setup(event_loop_->monotonic_now()); });
- }
-
- private:
- const sift::CameraCalibration *FindCameraCalibration() const;
-
- // Copies the information from training_data_ into matcher_.
- void CopyTrainingFeatures();
- // Processes an image (including sending the results).
- void ProcessImage(const CameraImage &image);
- // Reads an image, and then performs all of our processing on it.
- void ReadImage();
-
- flatbuffers::Offset<
- flatbuffers::Vector<flatbuffers::Offset<sift::ImageMatch>>>
- PackImageMatches(flatbuffers::FlatBufferBuilder *fbb,
- const std::vector<std::vector<cv::DMatch>> &matches);
- flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<sift::Feature>>>
- PackFeatures(flatbuffers::FlatBufferBuilder *fbb,
- const std::vector<cv::KeyPoint> &keypoints,
- const cv::Mat &descriptors);
-
- void SendImageMatchResult(const CameraImage &image,
- const std::vector<cv::KeyPoint> &keypoints,
- const cv::Mat &descriptors,
- const std::vector<std::vector<cv::DMatch>> &matches,
- const std::vector<cv::Mat> &camera_target_list,
- const std::vector<cv::Mat> &field_camera_list,
- const std::vector<cv::Point2f> &target_point_vector,
- const std::vector<float> &target_radius_vector,
- const std::vector<int> &training_image_indices,
- const std::vector<int> &homography_feature_counts,
- aos::Sender<sift::ImageMatchResult> *result_sender,
- bool send_details);
-
- // Returns the 2D (image) location for the specified training feature.
- cv::Point2f Training2dPoint(int training_image_index,
- int feature_index) const {
- const float x = training_data_->images()
- ->Get(training_image_index)
- ->features()
- ->Get(feature_index)
- ->x();
- const float y = training_data_->images()
- ->Get(training_image_index)
- ->features()
- ->Get(feature_index)
- ->y();
- return cv::Point2f(x, y);
- }
-
- // Returns the 3D location for the specified training feature.
- cv::Point3f Training3dPoint(int training_image_index,
- int feature_index) const {
- const sift::KeypointFieldLocation *const location =
- training_data_->images()
- ->Get(training_image_index)
- ->features()
- ->Get(feature_index)
- ->field_location();
- return cv::Point3f(location->x(), location->y(), location->z());
- }
-
- const sift::TransformationMatrix *FieldToTarget(int training_image_index) {
- return training_data_->images()
- ->Get(training_image_index)
- ->field_to_target();
- }
-
- void TargetLocation(int training_image_index, cv::Point2f &target_location,
- float &target_radius) {
- target_location.x =
- training_data_->images()->Get(training_image_index)->target_point_x();
- target_location.y =
- training_data_->images()->Get(training_image_index)->target_point_y();
- target_radius = training_data_->images()
- ->Get(training_image_index)
- ->target_point_radius();
- }
-
- int number_training_images() const {
- return training_data_->images()->size();
- }
-
- cv::Mat CameraIntrinsics() const {
- const cv::Mat result(3, 3, CV_32F,
- const_cast<void *>(static_cast<const void *>(
- camera_calibration_->intrinsics()->data())));
- CHECK_EQ(result.total(), camera_calibration_->intrinsics()->size());
- return result;
- }
-
- cv::Mat CameraDistCoeffs() const {
- const cv::Mat result(5, 1, CV_32F,
- const_cast<void *>(static_cast<const void *>(
- camera_calibration_->dist_coeffs()->data())));
- CHECK_EQ(result.total(), camera_calibration_->dist_coeffs()->size());
- return result;
- }
-
- aos::EventLoop *const event_loop_;
- const sift::TrainingData *const training_data_;
- const sift::CameraCalibration *const camera_calibration_;
- V4L2Reader *const reader_;
- std::vector<cv::FlannBasedMatcher> matchers_;
- aos::Sender<CameraImage> image_sender_;
- aos::Sender<sift::ImageMatchResult> result_sender_;
- aos::Sender<sift::ImageMatchResult> detailed_result_sender_;
- // We schedule this immediately to read an image. Having it on a timer means
- // other things can run on the event loop in between.
- aos::TimerHandler *const read_image_timer_;
-
- // Storage for when we want to use the previous estimates of pose
- std::vector<cv::Mat> prev_camera_field_R_vec_list_;
- std::vector<cv::Mat> prev_camera_field_T_list_;
-
- const std::unique_ptr<frc971::vision::SIFT971_Impl> sift_{
- new frc971::vision::SIFT971_Impl()};
-};
const sift::CameraCalibration *CameraReader::FindCameraCalibration() const {
const std::string_view node_name = event_loop_->node()->name()->string_view();
@@ -289,10 +137,11 @@
result_builder.add_image_monotonic_timestamp_ns(
image.monotonic_timestamp_ns());
result_builder.add_camera_calibration(camera_calibration_offset);
+ result_builder.add_send_failures(result_failure_counter_.failures());
// TODO<Jim>: Need to add target point computed from matches and
// mapped by homography
- builder.Send(result_builder.Finish());
+ result_failure_counter_.Count(builder.Send(result_builder.Finish()));
}
void CameraReader::ProcessImage(const CameraImage &image) {
@@ -692,42 +541,5 @@
return fbb->CreateVector(features_vector);
}
-void CameraReaderMain() {
- aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig(FLAGS_config);
-
- const aos::FlatbufferSpan<sift::TrainingData> training_data(
- SiftTrainingData());
- CHECK(training_data.Verify());
-
- const auto index_params = cv::makePtr<cv::flann::IndexParams>();
- index_params->setAlgorithm(cvflann::FLANN_INDEX_KDTREE);
- index_params->setInt("trees", 5);
- const auto search_params =
- cv::makePtr<cv::flann::SearchParams>(/* checks */ 50);
- cv::FlannBasedMatcher matcher(index_params, search_params);
-
- aos::ShmEventLoop event_loop(&config.message());
-
- // First, log the data for future reference.
- {
- aos::Sender<sift::TrainingData> training_data_sender =
- event_loop.MakeSender<sift::TrainingData>("/camera");
- training_data_sender.Send(training_data);
- }
-
- V4L2Reader v4l2_reader(&event_loop, "/dev/video0");
- CameraReader camera_reader(&event_loop, &training_data.message(),
- &v4l2_reader, index_params, search_params);
-
- event_loop.Run();
-}
-
-} // namespace
} // namespace vision
} // namespace frc971
-
-int main(int argc, char **argv) {
- aos::InitGoogle(&argc, &argv);
- frc971::vision::CameraReaderMain();
-}
diff --git a/y2020/vision/camera_reader.h b/y2020/vision/camera_reader.h
new file mode 100644
index 0000000..c05ebea
--- /dev/null
+++ b/y2020/vision/camera_reader.h
@@ -0,0 +1,174 @@
+#ifndef Y2020_VISION_CAMERA_READER_H_
+#define Y2020_VISION_CAMERA_READER_H_
+
+#include <math.h>
+
+#include <opencv2/calib3d.hpp>
+#include <opencv2/features2d.hpp>
+#include <opencv2/imgproc.hpp>
+
+#include "aos/events/event_loop.h"
+#include "aos/flatbuffer_merge.h"
+#include "aos/network/team_number.h"
+#include "y2020/vision/sift/sift971.h"
+#include "y2020/vision/sift/sift_generated.h"
+#include "y2020/vision/sift/sift_training_generated.h"
+#include "y2020/vision/tools/python_code/sift_training_data.h"
+#include "y2020/vision/v4l2_reader.h"
+#include "y2020/vision/vision_generated.h"
+
+namespace frc971 {
+namespace vision {
+
+class CameraReader {
+ public:
+ CameraReader(aos::EventLoop *event_loop,
+ const sift::TrainingData *training_data, V4L2Reader *reader,
+ const cv::Ptr<cv::flann::IndexParams> &index_params,
+ const cv::Ptr<cv::flann::SearchParams> &search_params)
+ : event_loop_(event_loop),
+ training_data_(training_data),
+ camera_calibration_(FindCameraCalibration()),
+ reader_(reader),
+ image_sender_(event_loop->MakeSender<CameraImage>("/camera")),
+ result_sender_(
+ event_loop->MakeSender<sift::ImageMatchResult>("/camera")),
+ detailed_result_sender_(
+ event_loop->MakeSender<sift::ImageMatchResult>("/camera/detailed")),
+ read_image_timer_(event_loop->AddTimer([this]() { ReadImage(); })) {
+ for (int ii = 0; ii < number_training_images(); ++ii) {
+ matchers_.push_back(cv::FlannBasedMatcher(index_params, search_params));
+ prev_camera_field_R_vec_list_.push_back(cv::Mat::zeros(3, 1, CV_32F));
+ prev_camera_field_T_list_.push_back(cv::Mat::zeros(3, 1, CV_32F));
+ }
+ CopyTrainingFeatures();
+
+ for (auto &matcher : matchers_) {
+ matcher.train();
+ }
+
+ event_loop->OnRun(
+ [this]() { read_image_timer_->Setup(event_loop_->monotonic_now()); });
+ }
+
+ private:
+ const sift::CameraCalibration *FindCameraCalibration() const;
+
+ // Copies the information from training_data_ into matcher_.
+ void CopyTrainingFeatures();
+ // Processes an image (including sending the results).
+ void ProcessImage(const CameraImage &image);
+ // Reads an image, and then performs all of our processing on it.
+ void ReadImage();
+
+ flatbuffers::Offset<
+ flatbuffers::Vector<flatbuffers::Offset<sift::ImageMatch>>>
+ PackImageMatches(flatbuffers::FlatBufferBuilder *fbb,
+ const std::vector<std::vector<cv::DMatch>> &matches);
+ flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<sift::Feature>>>
+ PackFeatures(flatbuffers::FlatBufferBuilder *fbb,
+ const std::vector<cv::KeyPoint> &keypoints,
+ const cv::Mat &descriptors);
+
+ void SendImageMatchResult(const CameraImage &image,
+ const std::vector<cv::KeyPoint> &keypoints,
+ const cv::Mat &descriptors,
+ const std::vector<std::vector<cv::DMatch>> &matches,
+ const std::vector<cv::Mat> &camera_target_list,
+ const std::vector<cv::Mat> &field_camera_list,
+ const std::vector<cv::Point2f> &target_point_vector,
+ const std::vector<float> &target_radius_vector,
+ const std::vector<int> &training_image_indices,
+ const std::vector<int> &homography_feature_counts,
+ aos::Sender<sift::ImageMatchResult> *result_sender,
+ bool send_details);
+
+ // Returns the 2D (image) location for the specified training feature.
+ cv::Point2f Training2dPoint(int training_image_index,
+ int feature_index) const {
+ const float x = training_data_->images()
+ ->Get(training_image_index)
+ ->features()
+ ->Get(feature_index)
+ ->x();
+ const float y = training_data_->images()
+ ->Get(training_image_index)
+ ->features()
+ ->Get(feature_index)
+ ->y();
+ return cv::Point2f(x, y);
+ }
+
+ // Returns the 3D location for the specified training feature.
+ cv::Point3f Training3dPoint(int training_image_index,
+ int feature_index) const {
+ const sift::KeypointFieldLocation *const location =
+ training_data_->images()
+ ->Get(training_image_index)
+ ->features()
+ ->Get(feature_index)
+ ->field_location();
+ return cv::Point3f(location->x(), location->y(), location->z());
+ }
+
+ const sift::TransformationMatrix *FieldToTarget(int training_image_index) {
+ return training_data_->images()
+ ->Get(training_image_index)
+ ->field_to_target();
+ }
+
+ void TargetLocation(int training_image_index, cv::Point2f &target_location,
+ float &target_radius) {
+ target_location.x =
+ training_data_->images()->Get(training_image_index)->target_point_x();
+ target_location.y =
+ training_data_->images()->Get(training_image_index)->target_point_y();
+ target_radius = training_data_->images()
+ ->Get(training_image_index)
+ ->target_point_radius();
+ }
+
+ int number_training_images() const {
+ return training_data_->images()->size();
+ }
+
+ cv::Mat CameraIntrinsics() const {
+ const cv::Mat result(3, 3, CV_32F,
+ const_cast<void *>(static_cast<const void *>(
+ camera_calibration_->intrinsics()->data())));
+ CHECK_EQ(result.total(), camera_calibration_->intrinsics()->size());
+ return result;
+ }
+
+ cv::Mat CameraDistCoeffs() const {
+ const cv::Mat result(5, 1, CV_32F,
+ const_cast<void *>(static_cast<const void *>(
+ camera_calibration_->dist_coeffs()->data())));
+ CHECK_EQ(result.total(), camera_calibration_->dist_coeffs()->size());
+ return result;
+ }
+
+ aos::EventLoop *const event_loop_;
+ const sift::TrainingData *const training_data_;
+ const sift::CameraCalibration *const camera_calibration_;
+ V4L2Reader *const reader_;
+ std::vector<cv::FlannBasedMatcher> matchers_;
+ aos::Sender<CameraImage> image_sender_;
+ aos::Sender<sift::ImageMatchResult> result_sender_;
+ aos::SendFailureCounter result_failure_counter_;
+ aos::Sender<sift::ImageMatchResult> detailed_result_sender_;
+ // We schedule this immediately to read an image. Having it on a timer means
+ // other things can run on the event loop in between.
+ aos::TimerHandler *const read_image_timer_;
+
+ // Storage for when we want to use the previous estimates of pose
+ std::vector<cv::Mat> prev_camera_field_R_vec_list_;
+ std::vector<cv::Mat> prev_camera_field_T_list_;
+
+ const std::unique_ptr<frc971::vision::SIFT971_Impl> sift_{
+ new frc971::vision::SIFT971_Impl()};
+};
+
+} // namespace vision
+} // namespace frc971
+#endif // Y2020_VISION_CAMERA_READER_H_
diff --git a/y2020/vision/camera_reader_main.cc b/y2020/vision/camera_reader_main.cc
new file mode 100644
index 0000000..c7fec43
--- /dev/null
+++ b/y2020/vision/camera_reader_main.cc
@@ -0,0 +1,52 @@
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "y2020/vision/camera_reader.h"
+
+// config used to allow running camera_reader independently. E.g.,
+// bazel run //y2020/vision:camera_reader -- --config y2020/config.json
+// --override_hostname pi-7971-1 --ignore_timestamps true
+DEFINE_string(config, "config.json", "Path to the config file to use.");
+namespace frc971 {
+namespace vision {
+namespace {
+
+void CameraReaderMain() {
+ aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig(FLAGS_config);
+
+ const aos::FlatbufferSpan<sift::TrainingData> training_data(
+ SiftTrainingData());
+ CHECK(training_data.Verify());
+
+ const auto index_params = cv::makePtr<cv::flann::IndexParams>();
+ index_params->setAlgorithm(cvflann::FLANN_INDEX_KDTREE);
+ index_params->setInt("trees", 5);
+ const auto search_params =
+ cv::makePtr<cv::flann::SearchParams>(/* checks */ 50);
+ cv::FlannBasedMatcher matcher(index_params, search_params);
+
+ aos::ShmEventLoop event_loop(&config.message());
+
+ // First, log the data for future reference.
+ {
+ aos::Sender<sift::TrainingData> training_data_sender =
+ event_loop.MakeSender<sift::TrainingData>("/camera");
+ CHECK_EQ(training_data_sender.Send(training_data),
+ aos::RawSender::Error::kOk);
+ }
+
+ V4L2Reader v4l2_reader(&event_loop, "/dev/video0");
+ CameraReader camera_reader(&event_loop, &training_data.message(),
+ &v4l2_reader, index_params, search_params);
+
+ event_loop.Run();
+}
+
+} // namespace
+} // namespace vision
+} // namespace frc971
+
+int main(int argc, char **argv) {
+ aos::InitGoogle(&argc, &argv);
+ frc971::vision::CameraReaderMain();
+}
diff --git a/y2020/vision/sift/BUILD b/y2020/vision/sift/BUILD
index 98c6ec6..93e2858 100644
--- a/y2020/vision/sift/BUILD
+++ b/y2020/vision/sift/BUILD
@@ -25,8 +25,6 @@
"@amd64_debian_sysroot//:sysroot_files",
],
main = "fast_gaussian_runner.py",
- python_version = "PY3",
- srcs_version = "PY2AND3",
target_compatible_with = ["@platforms//os:linux"],
toolchains = [
"@bazel_tools//tools/cpp:current_cc_toolchain",
@@ -220,8 +218,6 @@
py_binary(
name = "demo_sift_training",
srcs = ["demo_sift_training.py"],
- python_version = "PY3",
- srcs_version = "PY2AND3",
target_compatible_with = ["@platforms//os:linux"],
deps = [
":sift_fbs_python",
diff --git a/y2020/vision/sift/sift.fbs b/y2020/vision/sift/sift.fbs
index 427b91c..3336d0c 100644
--- a/y2020/vision/sift/sift.fbs
+++ b/y2020/vision/sift/sift.fbs
@@ -167,6 +167,9 @@
// Information about the camera which took this image.
camera_calibration:CameraCalibration (id: 4);
+
+ // Total number of match result send failures.
+ send_failures:uint64 (id: 5);
}
root_type ImageMatchResult;
diff --git a/y2020/vision/tools/python_code/BUILD b/y2020/vision/tools/python_code/BUILD
index fc7322d..7579a75 100644
--- a/y2020/vision/tools/python_code/BUILD
+++ b/y2020/vision/tools/python_code/BUILD
@@ -4,12 +4,10 @@
py_library(
name = "train_and_match",
srcs = ["train_and_match.py"],
- data = [
- "@python_repo//:scipy",
- ],
deps = [
"//external:python-glog",
"@opencv_contrib_nonfree_amd64//:python_opencv",
+ "@python_repo//:scipy",
],
)
@@ -18,13 +16,11 @@
srcs = [
"define_training_data.py",
],
- data = [
- "@python_repo//:scipy",
- ],
deps = [
":train_and_match",
"//external:python-glog",
"@opencv_contrib_nonfree_amd64//:python_opencv",
+ "@python_repo//:scipy",
],
)
@@ -61,7 +57,6 @@
"test_images/*.png",
]),
main = "target_definition.py",
- python_version = "PY3",
target_compatible_with = ["@platforms//os:linux"],
deps = [
":target_definition",
@@ -80,7 +75,6 @@
data = glob(["calib_files/*.json"]) + glob([
"test_images/*.png",
]),
- python_version = "PY3",
target_compatible_with = ["@platforms//os:linux"],
deps = [
":camera_definition",
@@ -100,7 +94,6 @@
data = glob(["calib_files/*.json"]) + glob([
"test_images/*.png",
]),
- python_version = "PY3",
target_compatible_with = ["@platforms//os:linux"],
deps = [
":camera_definition",
@@ -156,8 +149,6 @@
"test_images/*.png",
]),
main = "load_sift_training.py",
- python_version = "PY3",
- srcs_version = "PY2AND3",
target_compatible_with = ["@platforms//os:linux"],
deps = [
":load_sift_training",
diff --git a/y2020/vision/v4l2_reader.h b/y2020/vision/v4l2_reader.h
index 3c9d795..04548d6 100644
--- a/y2020/vision/v4l2_reader.h
+++ b/y2020/vision/v4l2_reader.h
@@ -53,7 +53,7 @@
aos::monotonic_clock::time_point monotonic_eof);
void Send() {
- builder.Send(message_offset);
+ (void)builder.Send(message_offset);
message_offset = flatbuffers::Offset<CameraImage>();
}
diff --git a/y2020/wpilib_interface.cc b/y2020/wpilib_interface.cc
index 1b732bc..f746970 100644
--- a/y2020/wpilib_interface.cc
+++ b/y2020/wpilib_interface.cc
@@ -243,7 +243,7 @@
drivetrain_builder.add_right_speed(-drivetrain_velocity_translate(
drivetrain_right_encoder_->GetPeriod()));
- builder.Send(drivetrain_builder.Finish());
+ builder.CheckOk(builder.Send(drivetrain_builder.Finish()));
}
const constants::Values &values = constants::GetValues();
@@ -306,7 +306,7 @@
position_builder.add_intake_beambreak_triggered(
ball_intake_beambreak_->Get());
- builder.Send(position_builder.Finish());
+ builder.CheckOk(builder.Send(position_builder.Finish()));
}
{
@@ -324,7 +324,7 @@
auto_mode_builder.add_mode(mode);
- builder.Send(auto_mode_builder.Finish());
+ builder.CheckOk(builder.Send(auto_mode_builder.Finish()));
}
if (FLAGS_shooter_tuning) {
@@ -339,7 +339,7 @@
builder.MakeBuilder<superstructure::shooter::TuningReadings>();
shooter_tuning_readings_builder.add_velocity_ball(
kDistanceBetweenBeambreaks / ball_beambreak_reader_.last_width());
- builder.Send(shooter_tuning_readings_builder.Finish());
+ builder.CheckOk(builder.Send(shooter_tuning_readings_builder.Finish()));
}
}
}
@@ -625,7 +625,8 @@
std::unique_ptr<frc971::wpilib::ADIS16448> old_imu;
std::unique_ptr<frc971::wpilib::ADIS16470> new_imu;
std::unique_ptr<frc::SPI> imu_spi;
- if (::aos::network::GetTeamNumber() != constants::Values::kCodingRobotTeamNumber) {
+ if (::aos::network::GetTeamNumber() !=
+ constants::Values::kCodingRobotTeamNumber) {
old_imu = make_unique<frc971::wpilib::ADIS16448>(
&imu_event_loop, spi_port, imu_trigger.get());
old_imu->SetDummySPI(frc::SPI::Port::kOnboardCS2);
diff --git a/y2020/y2020_logger.json b/y2020/y2020_logger.json
index 0d97a7d..bb60e7c 100644
--- a/y2020/y2020_logger.json
+++ b/y2020/y2020_logger.json
@@ -30,7 +30,23 @@
{
"name": "logger",
"priority": 2,
- "time_to_live": 50000000
+ "time_to_live": 500000000
+ }
+ ]
+ },
+ {
+ "name": "/drivetrain",
+ "type": "frc971.control_loops.drivetrain.Position",
+ "source_node": "roborio",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "logger"
+ ],
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 2,
+ "time_to_live": 500000000
}
]
},
@@ -141,6 +157,7 @@
"type": "aos.message_bridge.ClientStatistics",
"source_node": "logger",
"frequency": 10,
+ "max_size": 2000,
"num_senders": 2
},
{
diff --git a/y2020/y2020_roborio.json b/y2020/y2020_roborio.json
index 8bab794..a7f17b0 100644
--- a/y2020/y2020_roborio.json
+++ b/y2020/y2020_roborio.json
@@ -55,7 +55,7 @@
"type": "aos.message_bridge.ClientStatistics",
"source_node": "roborio",
"frequency": 15,
- "max_size": 736,
+ "max_size": 2000,
"num_senders": 2
},
{
diff --git a/y2021_bot3/control_loops/superstructure/BUILD b/y2021_bot3/control_loops/superstructure/BUILD
index 77cdf45..e4dd6a2 100644
--- a/y2021_bot3/control_loops/superstructure/BUILD
+++ b/y2021_bot3/control_loops/superstructure/BUILD
@@ -1,6 +1,7 @@
package(default_visibility = ["//visibility:public"])
load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
+load("@npm_bazel_typescript//:defs.bzl", "ts_library")
flatbuffer_cc_library(
name = "superstructure_goal_fbs",
@@ -101,4 +102,15 @@
"//frc971/control_loops:team_number_test_environment",
"//frc971/control_loops/drivetrain:drivetrain_status_fbs",
],
+)
+
+ts_library(
+ name = "superstructure_plotter",
+ srcs = ["superstructure_plotter.ts"],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ "//aos/network/www:aos_plotter",
+ "//aos/network/www:colors",
+ "//aos/network/www:proxy",
+ ],
)
\ No newline at end of file
diff --git a/y2021_bot3/control_loops/superstructure/superstructure.cc b/y2021_bot3/control_loops/superstructure/superstructure.cc
index fbedb22..1b4b611 100644
--- a/y2021_bot3/control_loops/superstructure/superstructure.cc
+++ b/y2021_bot3/control_loops/superstructure/superstructure.cc
@@ -33,7 +33,7 @@
std::clamp(unsafe_goal->outtake_speed(), -12.0, 12.0);
output_struct.climber_volts =
std::clamp(unsafe_goal->climber_speed(), -12.0, 12.0);
- output->Send(Output::Pack(*output->fbb(), &output_struct));
+ output->CheckOk(output->Send(Output::Pack(*output->fbb(), &output_struct)));
}
Status::Builder status_builder = status->MakeBuilder<Status>();
@@ -47,7 +47,7 @@
status_builder.add_climber_speed(unsafe_goal->climber_speed());
}
- status->Send(status_builder.Finish());
+ (void)status->Send(status_builder.Finish());
}
} // namespace superstructure
diff --git a/y2021_bot3/control_loops/superstructure/superstructure_lib_test.cc b/y2021_bot3/control_loops/superstructure/superstructure_lib_test.cc
index a6b6353..e30fa1d 100644
--- a/y2021_bot3/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2021_bot3/control_loops/superstructure/superstructure_lib_test.cc
@@ -1,13 +1,16 @@
#include <chrono>
#include <memory>
-#include "aos/events/logging/log_writer.h"
#include "frc971/control_loops/capped_test_plant.h"
#include "frc971/control_loops/control_loop_test.h"
#include "frc971/control_loops/position_sensor_sim.h"
#include "frc971/control_loops/team_number_test_environment.h"
#include "gtest/gtest.h"
#include "y2021_bot3/control_loops/superstructure/superstructure.h"
+#include "aos/events/logging/log_writer.h"
+
+DEFINE_string(output_folder, "",
+ "If set, logs all channels to the provided logfile.");
namespace y2021_bot3 {
namespace control_loops {
@@ -40,6 +43,13 @@
phased_loop_handle_ = test_event_loop_->AddPhasedLoop(
[this](int) { SendPositionMessage(); }, dt());
+
+ if (!FLAGS_output_folder.empty()) {
+ unlink(FLAGS_output_folder.c_str());
+ logger_event_loop_ = MakeEventLoop("logger", roborio_);
+ logger_ = std::make_unique<aos::logger::Logger>(logger_event_loop_.get());
+ logger_->StartLoggingLocalNamerOnRun(FLAGS_output_folder);
+ }
}
void VerifyResults(double intake_voltage, double outtake_voltage,
@@ -62,9 +72,12 @@
void SendPositionMessage() {
auto builder = superstructure_position_sender_.MakeBuilder();
Position::Builder position_builder = builder.MakeBuilder<Position>();
- builder.Send(position_builder.Finish());
+ builder.CheckOk(builder.Send(position_builder.Finish()));
}
+ // Because the third robot is single node, the roborio node is nullptr
+ const aos::Node *const roborio_ = nullptr;
+
::std::unique_ptr<::aos::EventLoop> superstructure_event_loop;
::y2021_bot3::control_loops::superstructure::Superstructure superstructure_;
::std::unique_ptr<::aos::EventLoop> test_event_loop_;
@@ -75,6 +88,8 @@
::aos::Fetcher<Output> superstructure_output_fetcher_;
::aos::Fetcher<Position> superstructure_position_fetcher_;
::aos::Sender<Position> superstructure_position_sender_;
+ std::unique_ptr<aos::EventLoop> logger_event_loop_;
+ std::unique_ptr<aos::logger::Logger> logger_;
};
// Tests running the intake and outtake separately
@@ -83,7 +98,7 @@
auto builder = superstructure_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_intake_speed(10.0);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ builder.CheckOk(builder.Send(goal_builder.Finish()));
SendPositionMessage();
RunFor(dt() * 2);
VerifyResults(10.0, 0.0, 0.0, 10.0, 0.0, 0.0);
@@ -93,7 +108,7 @@
auto builder = superstructure_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_outtake_speed(10.0);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ builder.CheckOk(builder.Send(goal_builder.Finish()));
RunFor(dt() * 2);
VerifyResults(0.0, 10.0, 0.0, 0.0, 10.0, 0.0);
}
@@ -103,7 +118,7 @@
auto builder = superstructure_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_climber_speed(4.0);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ builder.CheckOk(builder.Send(goal_builder.Finish()));
RunFor(dt() * 2);
VerifyResults(0.0, 0.0, 4.0, 0.0, 0.0, 4.0);
}
@@ -114,7 +129,7 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_intake_speed(10.0);
goal_builder.add_outtake_speed(5.0);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ builder.CheckOk(builder.Send(goal_builder.Finish()));
RunFor(dt() * 2);
VerifyResults(10.0, 5.0, 0.0, 10.0, 5.0, 0.0);
}
@@ -128,7 +143,7 @@
goal_builder.add_intake_speed(20.0);
goal_builder.add_outtake_speed(15.0);
goal_builder.add_climber_speed(18.0);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ builder.CheckOk(builder.Send(goal_builder.Finish()));
RunFor(dt() * 2);
VerifyResults(12.0, 12.0, 12.0, 20.0, 15.0, 18.0);
}
@@ -139,7 +154,7 @@
goal_builder.add_intake_speed(-20.0);
goal_builder.add_outtake_speed(-15.0);
goal_builder.add_climber_speed(-18.0);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ builder.CheckOk(builder.Send(goal_builder.Finish()));
RunFor(dt() * 2);
VerifyResults(-12.0, -12.0, -12.0, -20.0, -15.0, -18.0);
}
@@ -149,7 +164,7 @@
TEST_F(SuperstructureTest, GoalIsNull) {
auto builder = superstructure_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ builder.CheckOk(builder.Send(goal_builder.Finish()));
RunFor(dt() * 2);
VerifyResults(0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
}
@@ -161,13 +176,32 @@
goal_builder.add_intake_speed(6.0);
goal_builder.add_outtake_speed(5.0);
goal_builder.add_climber_speed(4.0);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ builder.CheckOk(builder.Send(goal_builder.Finish()));
SetEnabled(false);
RunFor(dt() * 2);
VerifyResults(0.0, 0.0, 0.0, 6.0, 5.0, 4.0);
}
+TEST_F(SuperstructureTest, PlotterTest) {
+ double speed = 10.0;
+ test_event_loop_->AddPhasedLoop(
+ [&](int) {
+ auto builder = superstructure_goal_sender_.MakeBuilder();
+ Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+ goal_builder.add_intake_speed(speed);
+ goal_builder.add_outtake_speed(speed);
+ goal_builder.add_climber_speed(speed);
+ builder.CheckOk(builder.Send(goal_builder.Finish()));
+ speed += .001;
+ if (speed >= 12) {
+ speed = -12;
+ }
+ },
+ frc971::controls::kLoopFrequency);
+ RunFor(std::chrono::seconds(10));
+}
+
} // namespace testing
} // namespace superstructure
} // namespace control_loops
-} // namespace y2021_bot3
\ No newline at end of file
+} // namespace y2021_bot3
diff --git a/y2021_bot3/control_loops/superstructure/superstructure_plotter.ts b/y2021_bot3/control_loops/superstructure/superstructure_plotter.ts
new file mode 100644
index 0000000..f453d64
--- /dev/null
+++ b/y2021_bot3/control_loops/superstructure/superstructure_plotter.ts
@@ -0,0 +1,41 @@
+// Provides a plot for debugging robot state-related issues.
+import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
+import * as proxy from 'org_frc971/aos/network/www/proxy';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from 'org_frc971/aos/network/www/colors';
+
+import Connection = proxy.Connection;
+
+const TIME = AosPlotter.TIME;
+const DEFAULT_WIDTH = AosPlotter.DEFAULT_WIDTH;
+const DEFAULT_HEIGHT = AosPlotter.DEFAULT_HEIGHT * 3;
+
+export function plotSuperstructure(conn: Connection, element: Element) : void {
+ const aosPlotter = new AosPlotter(conn);
+ const goal = aosPlotter.addMessageSource('/superstructure', 'y2021_bot3.control_loops.superstructure.Goal');
+ const output = aosPlotter.addMessageSource('/superstructure', 'y2021_bot3.control_loops.superstructure.Output');
+ const status = aosPlotter.addMessageSource('/superstructure', 'y2021_bot3.control_loops.superstructure.Status');
+ const position = aosPlotter.addMessageSource('/superstructure', 'y2021_bot3.control_loops.superstructure.Position');
+ const robotState = aosPlotter.addMessageSource('/aos', 'aos.RobotState');
+
+ const intakePlot =
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ intakePlot.plot.getAxisLabels().setTitle('Intake');
+ intakePlot.plot.getAxisLabels().setXLabel(TIME);
+ intakePlot.plot.getAxisLabels().setYLabel('Volts');
+ intakePlot.plot.setDefaultYRange([-20.0, 20.0]);
+
+ intakePlot.addMessageLine(output, ['intake_volts']).setColor(BLUE);
+ intakePlot.addMessageLine(goal, ['intake_speed']).setColor(GREEN);
+ intakePlot.addMessageLine(status, ['intake_speed']).setColor(RED);
+
+ const outtakePlot =
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ outtakePlot.plot.getAxisLabels().setTitle('Outtake');
+ outtakePlot.plot.getAxisLabels().setXLabel(TIME);
+ outtakePlot.plot.getAxisLabels().setYLabel('Volts');
+ outtakePlot.plot.setDefaultYRange([-20.0, 20.0]);
+
+ outtakePlot.addMessageLine(output, ['outtake_volts']).setColor(BLUE);
+ outtakePlot.addMessageLine(goal, ['outtake_speed']).setColor(GREEN);
+ outtakePlot.addMessageLine(status, ['outtake_speed']).setColor(RED);
+}
diff --git a/y2021_bot3/wpilib_interface.cc b/y2021_bot3/wpilib_interface.cc
index 1808846..05a8895 100644
--- a/y2021_bot3/wpilib_interface.cc
+++ b/y2021_bot3/wpilib_interface.cc
@@ -148,14 +148,14 @@
drivetrain_builder.add_right_speed(-drivetrain_velocity_translate(
drivetrain_right_encoder_->GetPeriod()));
- builder.Send(drivetrain_builder.Finish());
+ builder.CheckOk(builder.Send(drivetrain_builder.Finish()));
}
{
auto builder = superstructure_position_sender_.MakeBuilder();
superstructure::Position::Builder position_builder =
builder.MakeBuilder<superstructure::Position>();
- builder.Send(position_builder.Finish());
+ builder.CheckOk(builder.Send(position_builder.Finish()));
}
{
@@ -173,7 +173,7 @@
auto_mode_builder.add_mode(mode);
- builder.Send(auto_mode_builder.Finish());
+ builder.CheckOk(builder.Send(auto_mode_builder.Finish()));
}
}
