fixed stuff to actually run on the bbb
diff --git a/aos/atom_code/ipc_lib/core_lib.c b/aos/atom_code/ipc_lib/core_lib.c
index bbd2f5b..c83dbe4 100644
--- a/aos/atom_code/ipc_lib/core_lib.c
+++ b/aos/atom_code/ipc_lib/core_lib.c
@@ -9,7 +9,8 @@
return (l > r) ? l : r;
}
void *shm_malloc_aligned(size_t length, uint8_t alignment) {
- // minimum alignments from <http://software.intel.com/en-us/articles/data-alignment-when-migrating-to-64-bit-intel-architecture/>
+ // minimum alignments from
+ // <http://software.intel.com/en-us/articles/data-alignment-when-migrating-to-64-bit-intel-architecture/>
if (length <= 1) {
alignment = aos_8max(alignment, 1);
} else if (length <= 2) {
diff --git a/aos/atom_code/ipc_lib/shared_mem.c b/aos/atom_code/ipc_lib/shared_mem.c
index e2c2c9e..5b1231c 100644
--- a/aos/atom_code/ipc_lib/shared_mem.c
+++ b/aos/atom_code/ipc_lib/shared_mem.c
@@ -13,8 +13,10 @@
// the path for the shared memory segment. see shm_open(3) for restrictions
#define AOS_SHM_NAME "/aos_shared_mem"
// Size of the shared mem segment.
-// set to the maximum number that worked
-#define SIZEOFSHMSEG (4096 * 27813)
+// Set to the maximum number that worked. Any bigger than this and the kernel
+// thinks you should be able to access all of it but it doesn't work with the
+// ARM kernel Brian was using on 2013-12-20.
+#define SIZEOFSHMSEG (4096 * 25074)
void init_shared_mem_core(aos_shm_core *shm_core) {
clock_gettime(CLOCK_REALTIME, &shm_core->identifier);
diff --git a/frc971/atom_code/atom_code.gyp b/frc971/atom_code/atom_code.gyp
index 4803265..7bf884e 100644
--- a/frc971/atom_code/atom_code.gyp
+++ b/frc971/atom_code/atom_code.gyp
@@ -24,7 +24,7 @@
'../output/output.gyp:CameraServer',
#'camera/camera.gyp:frc971',
'../../gyro_board/src/libusb-driver/libusb-driver.gyp:get',
- '../input/input.gyp:gyro_sensor_receiver',
+ #'../input/input.gyp:gyro_sensor_receiver',
'<(DEPTH)/bbb_cape/src/bbb/bbb.gyp:*',
],
'copies': [
diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index 71af487..bcd62f9 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -556,6 +556,18 @@
Drivetrain::Position position_;
int counter_;
};
+constexpr double PolyDrivetrain::kStallTorque;
+constexpr double PolyDrivetrain::kStallCurrent;
+constexpr double PolyDrivetrain::kFreeSpeed;
+constexpr double PolyDrivetrain::kFreeCurrent;
+constexpr double PolyDrivetrain::J;
+constexpr double PolyDrivetrain::m;
+constexpr double PolyDrivetrain::rb;
+constexpr double PolyDrivetrain::kWheelRadius;
+constexpr double PolyDrivetrain::kR;
+constexpr double PolyDrivetrain::Kv;
+constexpr double PolyDrivetrain::Kt;
+
class DrivetrainMotorsOL {