Merge pull request #99 from auscompgeek/update-navx

Update navX drivers

Author: virtuald

.gittrack

@@ -2,5 +2,5 @@
 validation_root = robotpy_ext/common_drivers/navx
 exclude_commits_file = devtools/exclude_commits_navx
 upstream_root = ../navxmxp
-upstream_commit = 09abe90221cb9d0ae104776af037d0b8a7f2d720
+upstream_commit = d8fa37624f03379ed0e2a8f6f458e3cecbb59247
 

devtools/exclude_commits_navx

@@ -0,0 +1 @@
+d34b079bfaeab387915436946233367d6bedb370  # enableLogging method

robotpy_ext/common_drivers/navx/ahrs.py

@@ -1,4 +1,4 @@
-# validated: 2017-02-19 DS 45685cfce2a1 roborio/java/navx_frc/src/com/kauailabs/navx/frc/AHRS.java
+# validated: 2018-02-11 DV d8fa37624f03 roborio/java/navx_frc/src/com/kauailabs/navx/frc/AHRS.java
 #----------------------------------------------------------------------------
 # Copyright (c) Kauai Labs 2015. All Rights Reserved.
 #
@@ -103,7 +103,9 @@ def __init__(self, io, update_rate_hz=None):
 
         if update_rate_hz is None:
             update_rate_hz = self.NAVX_DEFAULT_UPDATE_RATE_HZ
-        
+
+        super().__init__(addLiveWindow=False)
+
         # Internal variables
 
         self.yaw = 0
@@ -168,8 +170,6 @@ def __init__(self, io, update_rate_hz=None):
 
         self.pidSource = self.PIDSourceType.kDisplacement
 
-        self.mutex = threading.RLock()
-        
         self.integrator = InertialDataIntegrator()
         self.yaw_offset_tracker = OffsetTracker(self.YAW_HISTORY_LENGTH)
         self.yaw_angle_tracker = ContinuousAngleTracker()
@@ -996,7 +996,13 @@ def getFirmwareVersion(self):
         :returns: The firmware version in the format [MajorVersion].[MinorVersion]
         """
         return '%s.%s' % (self.fw_ver_major, self.fw_ver_minor)
-    
+
+    def getGyroFullScaleRangeDPS(self) -> int:
+        return self.gyro_fsr_dps
+
+    def getAccelFullScaleRangeG(self) -> int:
+        return self.accel_fsr_g
+
     #
     # Internal API
     #
@@ -1069,14 +1075,9 @@ def _yawResetComplete(self):
         self.yaw_angle_tracker.reset()
 
     #
-    # LiveWindow 
+    # LiveWindow
     #
-    
-    def getSmartDashboardType(self):
-        return "Gyro"
-    
-    def updateTable(self):
-        table = self.getTable()
-        if table is not None:
-            table.putNumber("Value", self.getYaw())
-        
+
+    def initSendable(self, builder):
+        builder.setSmartDashboardType("Gyro")
+        builder.addDoubleProperty("Value", self.getAngle, None)

robotpy_ext/common_drivers/navx/registerio.py

@@ -1,4 +1,4 @@
-# validated: 2017-02-19 DS c5e3a8a9b642 roborio/java/navx_frc/src/com/kauailabs/navx/frc/RegisterIO.java
+# validated: 2018-02-11 DV d8fa37624f03 roborio/java/navx_frc/src/com/kauailabs/navx/frc/RegisterIO.java
 #----------------------------------------------------------------------------
 # Copyright (c) Kauai Labs 2015. All Rights Reserved.
 #
@@ -219,8 +219,8 @@ def getCurrentData(self):
         board_state.selftest_status = curr_data[IMURegisters.NAVX_REG_SELFTEST_STATUS-first_address]
         board_state.sensor_status   = AHRSProtocol.decodeBinaryUint16(curr_data,IMURegisters.NAVX_REG_SENSOR_STATUS_L-first_address)
         board_state.update_rate_hz  = curr_data[IMURegisters.NAVX_REG_UPDATE_RATE_HZ-first_address]
-        board_state.gyro_fsr_dps    = AHRSProtocol.decodeBinaryUint16(curr_data,IMURegisters.NAVX_REG_GYRO_FSR_DPS_L)
-        board_state.accel_fsr_g     = curr_data[IMURegisters.NAVX_REG_ACCEL_FSR_G]
+        board_state.gyro_fsr_dps    = AHRSProtocol.decodeBinaryUint16(curr_data,IMURegisters.NAVX_REG_GYRO_FSR_DPS_L-first_address)
+        board_state.accel_fsr_g     = curr_data[IMURegisters.NAVX_REG_ACCEL_FSR_G-first_address]
         board_state.capability_flags= AHRSProtocol.decodeBinaryUint16(curr_data,IMURegisters.NAVX_REG_CAPABILITY_FLAGS_L-first_address)
         self.notify_sink._setBoardState(board_state)
 

robotpy_ext/common_drivers/navx/registerio_i2c.py

@@ -1,4 +1,4 @@
-# validated: 2017-02-19 DS 3b0fc57cd0e0 roborio/java/navx_frc/src/com/kauailabs/navx/frc/RegisterIO_I2C.java
+# validated: 2018-02-11 DV 73aa4ea84010 roborio/java/navx_frc/src/com/kauailabs/navx/frc/RegisterIO_I2C.java
 #----------------------------------------------------------------------------
 # Copyright (c) Kauai Labs 2015. All Rights Reserved.
 #
@@ -37,7 +37,10 @@ def init(self):
 
     def write(self, address, value):
         with self.mutex:
-            return self.port.write(address | 0x80, value)
+            aborted = self.port.write(address | 0x80, value)
+        if aborted:
+            logger.warn("navX-MXP I2C write error")
+        return not aborted
 
     def read(self, first_address, count):
         buffer = []