CrossTheRoadElec · rgreenblatt · Aug 6, 2018 · Aug 6, 2018
diff --git a/C++/PigeonSetGetYawC++/.cproject b/C++/PigeonSetGetYawC++/.cproject
diff --git a/C++/PigeonSetGetYawC++/.project b/C++/PigeonSetGetYawC++/.project
@@ -0,0 +1,28 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>PigeonSetGetYawC++</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
+			<triggers>clean,full,incremental,</triggers>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
+			<triggers>full,incremental,</triggers>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>org.eclipse.cdt.core.cnature</nature>
+		<nature>org.eclipse.cdt.core.ccnature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
+		<nature>edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature</nature>
+	</natures>
+</projectDescription>
diff --git a/C++/PigeonSetGetYawC++/.settings/language.settings.xml b/C++/PigeonSetGetYawC++/.settings/language.settings.xml
@@ -0,0 +1,36 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<project>
+	<configuration id="cdt.managedbuild.config.gnu.cross.exe.debug.1104744751" name="Debug">
+		<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
+			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
+			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
+			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
+			<provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="1345929325569682115" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+				<language-scope id="org.eclipse.cdt.core.gcc"/>
+				<language-scope id="org.eclipse.cdt.core.g++"/>
+			</provider>
+		</extension>
+	</configuration>
+	<configuration id="cdt.managedbuild.config.gnu.cross.exe.debug.1104744751.2017904325" name="linux_simulate">
+		<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
+			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
+			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
+			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
+			<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="36374163183" id="org.eclipse.cdt.managedbuilder.core.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+				<language-scope id="org.eclipse.cdt.core.gcc"/>
+				<language-scope id="org.eclipse.cdt.core.g++"/>
+			</provider>
+		</extension>
+	</configuration>
+	<configuration id="cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128" name="Windows Simulate">
+		<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
+			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
+			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
+			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
+			<provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="-1687629054637893" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+				<language-scope id="org.eclipse.cdt.core.gcc"/>
+				<language-scope id="org.eclipse.cdt.core.g++"/>
+			</provider>
+		</extension>
+	</configuration>
+</project>
diff --git a/C++/PigeonSetGetYawC++/.settings/org.eclipse.cdt.managedbuilder.core.prefs b/C++/PigeonSetGetYawC++/.settings/org.eclipse.cdt.managedbuilder.core.prefs
@@ -0,0 +1,13 @@
+eclipse.preferences.version=1
+environment/buildEnvironmentInclude/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/CPATH/delimiter=;
+environment/buildEnvironmentInclude/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/CPATH/operation=remove
+environment/buildEnvironmentInclude/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/CPLUS_INCLUDE_PATH/delimiter=;
+environment/buildEnvironmentInclude/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/CPLUS_INCLUDE_PATH/operation=remove
+environment/buildEnvironmentInclude/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/C_INCLUDE_PATH/delimiter=;
+environment/buildEnvironmentInclude/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/C_INCLUDE_PATH/operation=remove
+environment/buildEnvironmentInclude/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/append=true
+environment/buildEnvironmentInclude/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/appendContributed=true
+environment/buildEnvironmentLibrary/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/LIBRARY_PATH/delimiter=;
+environment/buildEnvironmentLibrary/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/LIBRARY_PATH/operation=remove
+environment/buildEnvironmentLibrary/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/append=true
+environment/buildEnvironmentLibrary/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/appendContributed=true
diff --git a/C++/PigeonSetGetYawC++/build.properties b/C++/PigeonSetGetYawC++/build.properties
@@ -0,0 +1,11 @@
+# Build information
+out=FRCUserProgram
+src.dir=src
+build.dir=build
+out.exe=Debug/${out}
+
+# Simulation
+simulation.world.file=/usr/share/frcsim/worlds/GearsBotDemo.world
+
+# Use the current C++ library by default
+cpp-version=current
diff --git a/C++/PigeonSetGetYawC++/build.xml b/C++/PigeonSetGetYawC++/build.xml
@@ -0,0 +1,28 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<project name="FRC Deployment" default="deploy">
+
+  <!--
+  The following properties can be defined to override system level
+  settings. These should not be touched unless you know what you're
+  doing. The primary use is to override the wpilib version when
+  working with older robots that can't compile with the latest
+  libraries.
+  -->
+
+  <!-- By default the system version of WPI is used -->
+  <!-- <property name="version" value=""/> -->
+
+  <!-- By default the system team number is used -->
+  <!-- <property name="team-number" value=""/> -->
+
+  <!-- By default the target is set to 10.TE.AM.2 -->
+  <!-- <property name="target" value=""/> -->
+
+  <property file="${user.home}/wpilib/wpilib.properties"/>
+  <property file="build.properties"/>
+  <property file="${user.home}/wpilib/cpp/${version}/ant/build.properties"/>
+
+  <import file="${wpilib.ant.dir}/build.xml"/>
+
+</project>
diff --git a/C++/PigeonSetGetYawC++/src/Robot.cpp b/C++/PigeonSetGetYawC++/src/Robot.cpp
@@ -0,0 +1,59 @@
+#include <stdio.h>
+#include "ctre/Phoenix.h"
+#include "Joystick.h"
+#include <IterativeRobot.h>
+
+class Robot: public frc::IterativeRobot {
+public:
+	//This can be changed to an pigeon plugged into a talon with a ribbon cable by instantating a talon
+	//and passing that talon object into the pigeon constructor.
+
+	PigeonIMU * _imu = new PigeonIMU(3);
+
+	Joystick * _joystick = new Joystick(0);
+
+	bool _lastButton1 = false;
+	bool _lastButton2 = false;
+	bool _lastButton3 = false;
+
+	double _lastSetYaw = 0;
+
+	void TeleopInit() {
+		_imu->SetYaw(0);
+	}
+
+	void TeleopPeriodic() {
+
+		//Set or Add yaw in degrees based on joystick
+		double yaw = 180 * _joystick->GetRawAxis(1);
+
+		if(_joystick->GetRawButton(1) && !_lastButton1) {
+			double ypr_deg[] = {0, 0, 0};
+
+			_imu->GetYawPitchRoll(ypr_deg);
+			printf("yaw: %f last set yaw: %f\n", ypr_deg[0], _lastSetYaw);
+		}
+
+		if(_joystick->GetRawButton(2) && !_lastButton2) {
+			_imu->SetYaw(yaw, 30);
+			_lastSetYaw = yaw;
+			printf("Set yaw to: %f\n", yaw);
+		}
+
+		if(_joystick->GetRawButton(3) && !_lastButton3) {
+			double ypr_deg[] = {0, 0, 0};
+
+			_imu->GetYawPitchRoll(ypr_deg);
+
+			_imu->AddYaw(yaw, 30);
+
+			_lastSetYaw = ypr_deg[0] +  yaw;
+			printf("Added %f to yaw\n", yaw);
+		}
+		_lastButton1 = _joystick->GetRawButton(1);
+		_lastButton2 = _joystick->GetRawButton(2);
+		_lastButton3 = _joystick->GetRawButton(3);
+	}
+};
+
+START_ROBOT_CLASS(Robot)
diff --git a/HERO C#/PigeonGetSetYaw/LICENSE b/HERO C#/PigeonGetSetYaw/LICENSE
@@ -0,0 +1,22 @@
+/**
+ * Phoenix Software License Agreement
+ *
+ * Copyright (C) Cross The Road Electronics.  All rights
+ * reserved.
+ * 
+ * Cross The Road Electronics (CTRE) licenses to you the right to 
+ * use, publish, and distribute copies of CRF (Cross The Road) firmware files (*.crf) and 
+ * Phoenix Software API Libraries ONLY when in use with CTR Electronics hardware products.
+ * 
+ * THE SOFTWARE AND DOCUMENTATION ARE PROVIDED "AS IS" WITHOUT
+ * WARRANTY OF ANY KIND, EITHER EXPRESS OR IMPLIED, INCLUDING WITHOUT
+ * LIMITATION, ANY WARRANTY OF MERCHANTABILITY, FITNESS FOR A
+ * PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT SHALL
+ * CROSS THE ROAD ELECTRONICS BE LIABLE FOR ANY INCIDENTAL, SPECIAL, 
+ * INDIRECT OR CONSEQUENTIAL DAMAGES, LOST PROFITS OR LOST DATA, COST OF
+ * PROCUREMENT OF SUBSTITUTE GOODS, TECHNOLOGY OR SERVICES, ANY CLAIMS
+ * BY THIRD PARTIES (INCLUDING BUT NOT LIMITED TO ANY DEFENSE
+ * THEREOF), ANY CLAIMS FOR INDEMNITY OR CONTRIBUTION, OR OTHER
+ * SIMILAR COSTS, WHETHER ASSERTED ON THE BASIS OF CONTRACT, TORT
+ * (INCLUDING NEGLIGENCE), BREACH OF WARRANTY, OR OTHERWISE
+ */
diff --git a/HERO C#/PigeonGetSetYaw/PigeonGetSetYaw.csproj b/HERO C#/PigeonGetSetYaw/PigeonGetSetYaw.csproj
@@ -0,0 +1,50 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <PropertyGroup>
+    <AssemblyName>PigeonGetSetYaw</AssemblyName>
+    <OutputType>Exe</OutputType>
+    <RootNamespace>Top</RootNamespace>
+    <ProjectTypeGuids>{b69e3092-b931-443c-abe7-7e7b65f2a37f};{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}</ProjectTypeGuids>
+    <ProductVersion>9.0.21022</ProductVersion>
+    <SchemaVersion>2.0</SchemaVersion>
+    <ProjectGuid>{FD578599-D937-45DE-8426-8A0496775D6B}</ProjectGuid>
+    <TargetFrameworkVersion>v4.4</TargetFrameworkVersion>
+    <NetMfTargetsBaseDir Condition="'$(NetMfTargetsBaseDir)'==''">$(MSBuildExtensionsPath32)\Microsoft\.NET Micro Framework\</NetMfTargetsBaseDir>
+    <DeployDevice>Cross Link HERO .NETMF_Mini-USB</DeployDevice>
+    <DeployTransport>USB</DeployTransport>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
+    <DebugSymbols>true</DebugSymbols>
+    <DebugType>full</DebugType>
+    <Optimize>false</Optimize>
+    <OutputPath>bin\Debug\</OutputPath>
+    <DefineConstants>DEBUG;TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
+    <DebugType>pdbonly</DebugType>
+    <Optimize>true</Optimize>
+    <OutputPath>bin\Release\</OutputPath>
+    <DefineConstants>TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+  </PropertyGroup>
+  <Import Project="$(NetMfTargetsBaseDir)$(TargetFrameworkVersion)\CSharp.Targets" />
+  <ItemGroup>
+    <Compile Include="Properties\AssemblyInfo.cs" />
+    <Compile Include="Program.cs" />
+  </ItemGroup>
+  <ItemGroup>
+    <Reference Include="CTRE, Version=5.1.5.0, Culture=neutral, processorArchitecture=MSIL">
+      <SpecificVersion>False</SpecificVersion>
+    </Reference>
+    <Reference Include="ctre_netmf_native">
+      <SpecificVersion>False</SpecificVersion>
+      <Private>False</Private>
+    </Reference>
+    <Reference Include="Microsoft.SPOT.Graphics" />
+    <Reference Include="Microsoft.SPOT.Hardware" />
+    <Reference Include="Microsoft.SPOT.Native" />
+  </ItemGroup>
+</Project>
diff --git a/HERO C#/PigeonGetSetYaw/PigeonGetSetYaw.sln b/HERO C#/PigeonGetSetYaw/PigeonGetSetYaw.sln
@@ -0,0 +1,27 @@
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio 15
+VisualStudioVersion = 15.0.26730.3
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "PigeonGetSetYaw", "PigeonGetSetYaw.csproj", "{FD578599-D937-45DE-8426-8A0496775D6B}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|Any CPU = Debug|Any CPU
+		Release|Any CPU = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{FD578599-D937-45DE-8426-8A0496775D6B}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{FD578599-D937-45DE-8426-8A0496775D6B}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{FD578599-D937-45DE-8426-8A0496775D6B}.Debug|Any CPU.Deploy.0 = Debug|Any CPU
+		{FD578599-D937-45DE-8426-8A0496775D6B}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{FD578599-D937-45DE-8426-8A0496775D6B}.Release|Any CPU.Build.0 = Release|Any CPU
+		{FD578599-D937-45DE-8426-8A0496775D6B}.Release|Any CPU.Deploy.0 = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+		SolutionGuid = {C42EC366-E98E-4DCC-B494-0500E6601A0B}
+	EndGlobalSection
+EndGlobal
diff --git a/HERO C#/PigeonGetSetYaw/Program.cs b/HERO C#/PigeonGetSetYaw/Program.cs
@@ -0,0 +1,89 @@
+/**
+ * A quick example on getting and setting the yaw of a pigeon
+ *
+ * This assumes the pigeon is directly connected over CAN. This example prints to console and requires the use of a
+ * gamepad.
+ */
+
+using CTRE.Phoenix;
+using Microsoft.SPOT;
+using CTRE.Phoenix.Controller;
+using CTRE.Phoenix.Sensors;
+using System.Threading;
+
+namespace PigeonGetSetYaw
+{
+	public class Program
+	{
+		static RobotApplication _robotApp = new RobotApplication();
+
+		public static void Main()
+		{
+			_robotApp.init();
+
+			while (true)
+			{
+				_robotApp.run();
+
+				Thread.Sleep(10);
+			}
+		}
+	}
+
+	public class RobotApplication
+	{
+		/* any system wide initializations here */
+		PigeonIMU _imu = new PigeonIMU(3);
+		GameController _joystick = new GameController(UsbHostDevice.GetInstance());
+
+		bool _lastButton1 = false;
+		bool _lastButton2 = false;
+		bool _lastButton3 = false;
+
+		float _lastSetYaw = 0;
+
+		public void init()
+		{
+			_imu.SetYaw(0, 30);
+		}
+
+
+		/* loop forever */
+		public void run()
+        {
+			//Set or Add yaw in degrees based on joystick
+			float yaw = 180 * _joystick.GetAxis(0);
+			if (_joystick.GetButton(1) && !_lastButton1)
+			{
+				float[] ypr_deg = { 0, 0, 0 };
+				_imu.GetYawPitchRoll(ypr_deg);
+				Debug.Print("yaw: " + ypr_deg[0].ToString() + " last set yaw: " + _lastSetYaw.ToString());
+			}
+
+			if (_joystick.GetButton(2) && !_lastButton2)
+			{
+				_imu.SetYaw(yaw, 30);
+				_lastSetYaw = yaw;
+				Debug.Print("Set yaw to: " + yaw.ToString());
+			}
+
+			if (_joystick.GetButton(3) && !_lastButton3)
+			{
+				float[] ypr_deg = { 0, 0, 0 };
+
+				_imu.GetYawPitchRoll(ypr_deg);
+
+				_imu.AddYaw(yaw, 30);
+
+				_lastSetYaw = ypr_deg[0] + yaw;
+				Debug.Print("Added " + yaw.ToString() + " to yaw");
+			}
+			_lastButton1 = _joystick.GetButton(1);
+			_lastButton2 = _joystick.GetButton(2);
+			_lastButton3 = _joystick.GetButton(3);
+
+		}
+	}
+
+
+}