Write class to handle gyro zeroing
Since we're moving the gyro zeroing into the drivetrain, take the
opportunity to write a new class to wrap it and to handle automatically
zeroing us any time we stay still for 5 seconds.
Change-Id: I9be7c970b6bbe3cf1eddc217c93467dfc21cd4cd
diff --git a/frc971/zeroing/BUILD b/frc971/zeroing/BUILD
index fe95bdc..ffd1114 100644
--- a/frc971/zeroing/BUILD
+++ b/frc971/zeroing/BUILD
@@ -7,6 +7,10 @@
hdrs = [
"averager.h",
],
+ deps = [
+ "@com_github_google_glog//:glog",
+ "@org_tuxfamily_eigen//:eigen",
+ ],
)
cc_test(
@@ -17,6 +21,36 @@
deps = [
":averager",
"//aos/testing:googletest",
+ "@org_tuxfamily_eigen//:eigen",
+ ],
+)
+
+cc_library(
+ name = "imu_zeroer",
+ srcs = [
+ "imu_zeroer.cc",
+ ],
+ hdrs = [
+ "imu_zeroer.h",
+ ],
+ deps = [
+ ":averager",
+ "//frc971/wpilib:imu_fbs",
+ "@com_github_google_glog//:glog",
+ "@org_tuxfamily_eigen//:eigen",
+ ],
+)
+
+cc_test(
+ name = "imu_zeroer_test",
+ srcs = [
+ "imu_zeroer_test.cc",
+ ],
+ deps = [
+ ":imu_zeroer",
+ "//aos:flatbuffers",
+ "//aos/testing:googletest",
+ "@org_tuxfamily_eigen//:eigen",
],
)