Modified double yaw for conditions

ut-robomaster/src/board.hpp

@@ -1,16 +1,16 @@
-#pragma once
-
-#include "tap/board/board.hpp"
-
-namespace Board
-{
-using I2cSda = DigitalInPinPF0;
-using I2cScl = DigitalInPinPF1;
-using I2cMaster = I2cMaster2;
-
-inline void initialize_i2c()
-{
-    I2cMaster::connect<I2cSda::Sda, I2cScl::Scl>(I2cMaster::PullUps::Internal);
-    I2cMaster::initialize<SystemClock>();
-}
-}  // namespace Board
+#pragma once
+
+#include "tap/board/board.hpp"
+
+namespace Board
+{
+using I2cSda = DigitalInPinPF0;
+using I2cScl = DigitalInPinPF1;
+using I2cMaster = I2cMaster2;
+
+inline void initialize_i2c()
+{
+    I2cMaster::connect<I2cSda::Sda, I2cScl::Scl>(I2cMaster::PullUps::Internal);
+    I2cMaster::initialize<SystemClock>();
+}
+}  // namespace Board

ut-robomaster/src/drivers.hpp

@@ -1,31 +1,31 @@
-#ifndef DRIVERS_HPP_
-#define DRIVERS_HPP_
-
-#include "tap/drivers.hpp"
-
-#include "communication/cv_board.hpp"
-#include "drivers/as5600.hpp"
-#include "utils/robot_comms.hpp"
-
-#include "board.hpp"
-
-namespace src
-{
-class Drivers : public tap::Drivers
-{
-    friend class DriversSingleton;
-
-#ifdef ENV_UNIT_TESTS
-public:
-#endif
-    Drivers() : tap::Drivers(), cvBoard(this), terminal(this) {}
-
-public:
-    communication::CVBoard cvBoard;
-    comms::RobotComms terminal;
-    bool isKillSwitched() { return !remote.isConnected(); }
-};  // class Drivers
-
-}  // namespace src
-
-#endif  // DRIVERS_HPP_
+#ifndef DRIVERS_HPP_
+#define DRIVERS_HPP_
+
+#include "tap/drivers.hpp"
+
+#include "communication/cv_board.hpp"
+#include "drivers/as5600.hpp"
+#include "utils/robot_comms.hpp"
+
+#include "board.hpp"
+
+namespace src
+{
+class Drivers : public tap::Drivers
+{
+    friend class DriversSingleton;
+
+#ifdef ENV_UNIT_TESTS
+public:
+#endif
+    Drivers() : tap::Drivers(), cvBoard(this), terminal(this) {}
+
+public:
+    communication::CVBoard cvBoard;
+    comms::RobotComms terminal;
+    bool isKillSwitched() { return !remote.isConnected(); }
+};  // class Drivers
+
+}  // namespace src
+
+#endif  // DRIVERS_HPP_

ut-robomaster/src/drivers/as5600.hpp

@@ -1,60 +1,60 @@
-#pragma once
-
-#include "modm/architecture/interface/i2c_device.hpp"
-#include "modm/processing/protothread/protothread.hpp"
-
-#include "encoder.hpp"
-
-namespace driver
-{
-template <class I2cMaster>
-class As5600 : public Encoder, public modm::I2cDevice<I2cMaster, 1>, public modm::pt::Protothread
-{
-public:
-    As5600() : modm::I2cDevice<I2cMaster, 1>(ADDRESS){};
-
-    void update() { run(); }
-
-    bool run()
-    {
-        PT_BEGIN();
-
-        while (true)
-        {
-            buffer[0] = uint8_t(Register::RAWANGLE);
-            PT_WAIT_UNTIL(this->startWriteRead(buffer, 1, buffer, 2));
-            PT_WAIT_WHILE(this->isTransactionRunning());
-
-            if (this->wasTransactionSuccessful())
-            {
-                angle = (buffer[0] << 8) | buffer[1];
-            }
-        }
-
-        PT_END();
-    }
-
-    float getAngle() override { return angle / 4096.0f; }
-
-protected:
-    enum class Register : uint8_t
-    {
-        ZPOS = 0x01,
-        MPOS = 0x03,
-        CONF = 0x07,
-
-        RAWANGLE = 0x0C,
-        ANGLE = 0x0E,
-
-        STATUS = 0x0B,
-        AGC = 0x1A,
-        MAG = 0x1B,
-    };
-
-private:
-    static const uint8_t ADDRESS = 0x36;
-    uint16_t angle = 0;
-    uint8_t buffer[2];
-};
-
+#pragma once
+
+#include "modm/architecture/interface/i2c_device.hpp"
+#include "modm/processing/protothread/protothread.hpp"
+
+#include "encoder.hpp"
+
+namespace driver
+{
+template <class I2cMaster>
+class As5600 : public Encoder, public modm::I2cDevice<I2cMaster, 1>, public modm::pt::Protothread
+{
+public:
+    As5600() : modm::I2cDevice<I2cMaster, 1>(ADDRESS){};
+
+    void update() { run(); }
+
+    bool run()
+    {
+        PT_BEGIN();
+
+        while (true)
+        {
+            buffer[0] = uint8_t(Register::RAWANGLE);
+            PT_WAIT_UNTIL(this->startWriteRead(buffer, 1, buffer, 2));
+            PT_WAIT_WHILE(this->isTransactionRunning());
+
+            if (this->wasTransactionSuccessful())
+            {
+                angle = (buffer[0] << 8) | buffer[1];
+            }
+        }
+
+        PT_END();
+    }
+
+    float getAngle() override { return angle / 4096.0f; }
+
+protected:
+    enum class Register : uint8_t
+    {
+        ZPOS = 0x01,
+        MPOS = 0x03,
+        CONF = 0x07,
+
+        RAWANGLE = 0x0C,
+        ANGLE = 0x0E,
+
+        STATUS = 0x0B,
+        AGC = 0x1A,
+        MAG = 0x1B,
+    };
+
+private:
+    static const uint8_t ADDRESS = 0x36;
+    uint16_t angle = 0;
+    uint8_t buffer[2];
+};
+
 };  // namespace driver

ut-robomaster/src/drivers/encoder.hpp

@@ -1,14 +1,14 @@
-#pragma once
-
-namespace driver
-{
-class Encoder
-{
-public:
-    virtual ~Encoder() {}
-
-    /// @brief Get current measured angle of the encoder
-    /// @return Angle (revs)
-    virtual float getAngle() = 0;
-};
+#pragma once
+
+namespace driver
+{
+class Encoder
+{
+public:
+    virtual ~Encoder() {}
+
+    /// @brief Get current measured angle of the encoder
+    /// @return Angle (revs)
+    virtual float getAngle() = 0;
+};
 }  // namespace driver