commit f47708e64d13f4b1311844f29fdc13144d689833
author Brian Silverman <brians> Fri Oct 11 21:33:56 2013 -0700
committer Brian Silverman <brians> Fri Oct 11 21:38:14 2013 -0700
tree 8617c3378e0278a4e4b7ccb7990250653dc400d7
parent 93871ee3ae64e29a8084e42a9b8c0260f69027bd

removing old code

frc971/atom_code/atom_code.gyp

diff --git a/frc971/atom_code/atom_code.gyp b/frc971/atom_code/atom_code.gyp
index 0aceec0..461ba7e 100644
--- a/frc971/atom_code/atom_code.gyp
+++ b/frc971/atom_code/atom_code.gyp
@@ -18,7 +18,6 @@
         '../control_loops/shooter/shooter.gyp:shooter',
         '../autonomous/autonomous.gyp:auto',
         '../input/input.gyp:JoystickReader',
-        '../input/input.gyp:GyroReader',
         '../../vision/vision.gyp:OpenCVWorkTask',
         '../../vision/vision.gyp:GoalMaster',
         '../output/output.gyp:MotorWriter',

frc971/input/GyroReader.cc

diff --git a/frc971/input/GyroReader.cc b/frc971/input/GyroReader.cc
deleted file mode 100644
index bdcd07e..0000000
--- a/frc971/input/GyroReader.cc
+++ /dev/null
@@ -1,51 +0,0 @@
-#include <unistd.h>
-#include <sys/types.h>
-#include <sys/stat.h>
-#include <fcntl.h>
-
-#include "aos/common/logging/logging.h"
-#include "aos/atom_code/init.h"
-
-#include "frc971/queues/GyroAngle.q.h"
-
-#define M_PI 3.14159265358979323846264338327
-
-using frc971::sensors::gyro;
-
-int main(){
-  aos::Init();
-  int fd = open("/dev/aschuh0", O_RDONLY);
-  int rate_limit = 0;
-  if (fd < 0) {
-    LOG(ERROR, "No Gyro found.\n");
-  } else {
-    LOG(INFO, "Gyro now connected\n");
-  }
-
-  while (true) {
-    int64_t gyro_value;
-    if (read(fd, (void *)&gyro_value, sizeof(gyro_value)) != sizeof(gyro_value)) {
-      LOG(ERROR, "Could not read gyro errno: %d\n", errno);
-      if (errno == ENODEV || errno == EBADF) {
-        close(fd);
-        while (1) {
-          usleep(1000);
-          fd = open("/dev/aschuh0", O_RDONLY);
-          if (fd > 0) {
-            LOG(INFO, "Found gyro again\n");
-            break;
-          }
-        }
-      }
-      continue;
-    }
-    rate_limit ++;
-    if (rate_limit > 10) {
-      LOG(DEBUG, "Gyro is %d\n", (int)(gyro_value / 16));
-      rate_limit = 0;
-    }
-    gyro.MakeWithBuilder().angle(gyro_value / 16.0 / 1000.0 / 180.0 * M_PI).Send();
-  }
-
-  aos::Cleanup();
-}

frc971/input/input.gyp

diff --git a/frc971/input/input.gyp b/frc971/input/input.gyp
index a0e6559..bcf1e16 100644
--- a/frc971/input/input.gyp
+++ b/frc971/input/input.gyp
@@ -63,17 +63,5 @@
         '<(AOS)/common/common.gyp:timing',
       ],
     },
-    {
-      'target_name': 'GyroReader',
-      'type': 'executable',
-      'sources': [
-        'GyroReader.cc',
-      ],
-      'dependencies': [
-        '<(DEPTH)/frc971/queues/queues.gyp:queues',
-        '<(AOS)/atom_code/atom_code.gyp:init',
-        '<(AOS)/build/aos.gyp:logging',
-      ],
-    },
   ],
 }