frc971/input/sensor_receiver.cc

#include <inttypes.h>

#include "aos/atom_code/init.h"
#include "aos/common/logging/logging.h"
#include "aos/common/util/wrapping_counter.h"
#include "aos/common/time.h"

#include "bbb/sensor_reader.h"

#include "frc971/control_loops/drivetrain/drivetrain.q.h"
#include "frc971/control_loops/wrist/wrist_motor.q.h"
#include "frc971/control_loops/angle_adjust/angle_adjust_motor.q.h"
#include "frc971/control_loops/index/index_motor.q.h"
#include "frc971/control_loops/shooter/shooter_motor.q.h"
#include "frc971/queues/GyroAngle.q.h"
#include "frc971/constants.h"

#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif

using ::frc971::control_loops::drivetrain;
using ::frc971::control_loops::wrist;
using ::frc971::control_loops::angle_adjust;
using ::frc971::control_loops::shooter;
using ::frc971::control_loops::index_loop;
using ::frc971::sensors::gyro;
using ::aos::util::WrappingCounter;

namespace frc971 {
namespace {

double drivetrain_translate(int32_t in) {
  return static_cast<double>(in) / (256.0 /*cpr*/ * 4.0 /*quad*/) *
      constants::GetValues().drivetrain_encoder_ratio *
      (3.5 /*wheel diameter*/ * 2.54 / 100.0 * M_PI);
}

double wrist_translate(int32_t in) {
  return static_cast<double>(in) / (256.0 /*cpr*/ * 4.0 /*quad*/) *
      (14.0 / 50.0 * 20.0 / 84.0) /*gears*/ * (2 * M_PI);
}

double angle_adjust_translate(int32_t in) {
  static const double kCableDiameter = 0.060;
  return -static_cast<double>(in) / (256.0 /*cpr*/ * 4.0 /*quad*/) *
      ((0.75 + kCableDiameter) / (16.61125 + kCableDiameter)) /*pulleys*/ *
      (2 * M_PI);
}

double shooter_translate(int32_t in) {
 return static_cast<double>(in) / (32.0 /*cpr*/ * 4.0 /*quad*/) *
      (15.0 / 34.0) /*gears*/ * (2 * M_PI);
}

double index_translate(int32_t in) {
  return -static_cast<double>(in) / (128.0 /*cpr*/ * 4.0 /*quad*/) *
      (1.0) /*gears*/ * (2 * M_PI);
}

// Translates values from the ADC into voltage.
double adc_translate(uint16_t in) {
  static const double kVRefN = 0;
  static const double kVRefP = 3.3;
  static const int kMaximumValue = 0xFFF;
  static const double kDividerGnd = 31.6, kDividerOther = 28;
  return (kVRefN +
      (static_cast<double>(in) / static_cast<double>(kMaximumValue) *
       (kVRefP - kVRefN))) * (kDividerGnd + kDividerOther) / kDividerGnd;
}

double gyro_translate(int64_t in) {
  return in / 16.0 / 1000.0 / (180.0 / M_PI);
}

double battery_translate(uint16_t in) {
  static const double kDividerBig = 98.9, kDividerSmall = 17.8;
  return adc_translate(in) * kDividerBig / kDividerSmall;
}

double hall_translate(const constants::ShifterHallEffect &k, uint16_t in) {
  const double voltage = adc_translate(in);
  return (voltage - k.low) / (k.high - k.low);
}

WrappingCounter top_rise_;
WrappingCounter top_fall_;
WrappingCounter bottom_rise_;
WrappingCounter bottom_fall_delay_;
WrappingCounter bottom_fall_;
void ProcessData(const ::bbb::DataStruct *data, bool bad_gyro) {
  if (!bad_gyro) {
    gyro.MakeWithBuilder()
        .angle(gyro_translate(data->gyro_angle))
        .Send();
  }

  drivetrain.position.MakeWithBuilder()
      .right_encoder(drivetrain_translate(data->main.right_drive))
      .left_encoder(-drivetrain_translate(data->main.left_drive))
      .left_shifter_position(hall_translate(constants::GetValues().left_drive,
                                            data->main.left_drive_hall))
      .right_shifter_position(hall_translate(
              constants::GetValues().right_drive, data->main.right_drive_hall))
      .battery_voltage(battery_translate(data->main.battery_voltage))
      .Send();

  wrist.position.MakeWithBuilder()
      .pos(wrist_translate(data->main.wrist))
      .hall_effect(data->main.wrist_hall_effect)
      .calibration(wrist_translate(data->main.capture_wrist_rise))
      .Send();

  angle_adjust.position.MakeWithBuilder()
      .angle(angle_adjust_translate(data->main.shooter_angle))
      .bottom_hall_effect(data->main.angle_adjust_bottom_hall_effect)
      .middle_hall_effect(false)
      .bottom_calibration(angle_adjust_translate(
              data->main.capture_shooter_angle_rise))
      .middle_calibration(angle_adjust_translate(
              0))
      .Send();

  shooter.position.MakeWithBuilder()
      .position(shooter_translate(data->main.shooter))
      .Send();

  index_loop.position.MakeWithBuilder()
      .index_position(index_translate(data->main.indexer))
      .top_disc_detect(data->main.top_disc)
      .top_disc_posedge_count(top_rise_.Update(data->main.top_rise_count))
      .top_disc_posedge_position(
          index_translate(data->main.capture_top_rise))
      .top_disc_negedge_count(top_fall_.Update(data->main.top_fall_count))
      .top_disc_negedge_position(
          index_translate(data->main.capture_top_fall))
      .bottom_disc_detect(data->main.bottom_disc)
      .bottom_disc_posedge_count(
          bottom_rise_.Update(data->main.bottom_rise_count))
      .bottom_disc_negedge_count(
          bottom_fall_.Update(data->main.bottom_fall_count))
      .bottom_disc_negedge_wait_position(index_translate(
              data->main.capture_bottom_fall_delay))
      .bottom_disc_negedge_wait_count(
          bottom_fall_delay_.Update(data->main.bottom_fall_delay_count))
      .loader_top(data->main.loader_top)
      .loader_bottom(data->main.loader_bottom)
      .Send();
}

void PacketReceived(const ::bbb::DataStruct *data,
                    const ::aos::time::Time &cape_timestamp) {
  LOG(DEBUG, "cape timestamp %010" PRId32 ".%09" PRId32 "s\n",
      cape_timestamp.sec(), cape_timestamp.nsec());
  bool bad_gyro;
  if (data->uninitialized_gyro) {
    LOG(DEBUG, "uninitialized gyro\n");
    bad_gyro = true;
  } else if (data->zeroing_gyro) {
    LOG(DEBUG, "zeroing gyro\n");
    bad_gyro = true;
  } else if (data->bad_gyro) {
    LOG(ERROR, "bad gyro\n");
    bad_gyro = true;
    gyro.MakeWithBuilder().angle(0).Send();
  } else if (data->old_gyro_reading) {
    LOG(WARNING, "old/bad gyro reading\n");
    bad_gyro = true;
  } else {
    bad_gyro = false;
  }
  static int i = 0;
  ++i;
  if (i == 5) {
    i = 0;
    ProcessData(data, bad_gyro);
  }
}

}  // namespace
}  // namespace frc971

int main() {
  ::aos::Init(::bbb::SensorReader::kRelativePriority);
  ::bbb::SensorReader reader("main");
  while (true) {
    ::frc971::PacketReceived(reader.ReadPacket(), reader.GetCapeTimestamp());
  }
  ::aos::Cleanup();
}