Move and rename driver stuff

ut-robomaster/src/drivers.hpp

@@ -4,10 +4,11 @@
 #include "tap/drivers.hpp"
 
 #include "communication/cv_board.hpp"
-#include "drivers/board.hpp"
-#include "drivers/encoder.hpp"
+#include "drivers/as5600.hpp"
 #include "utils/robot_comms.hpp"
 
+#include "board.hpp"
+
 namespace src
 {
 class Drivers : public tap::Drivers
@@ -22,7 +23,7 @@ class Drivers : public tap::Drivers
 public:
     communication::CVBoard cvBoard;
     comms::RobotComms terminal;
-    encoder::Encoder<Board::I2cMaster> encoder;
+    driver::As5600<Board::I2cMaster> encoder;
     bool isKillSwitched() { return !remote.isConnected(); }
 };  // class Drivers
 

ut-robomaster/src/drivers/encoder.hpp → ut-robomaster/src/drivers/as5600.hpp

@@ -3,15 +3,13 @@
 #include "modm/architecture/interface/i2c_device.hpp"
 #include "modm/processing/protothread/protothread.hpp"
 
-namespace encoder
+namespace driver
 {
 template <class I2cMaster>
-class Encoder : public modm::I2cDevice<I2cMaster, 10, modm::I2cWriteReadTransaction>,
-                public modm::pt::Protothread
+class As5600 : public modm::I2cDevice<I2cMaster, 1>, public modm::pt::Protothread
 {
 public:
-    Encoder(uint8_t address = slave_address)
-        : modm::I2cDevice<I2cMaster, 10, modm::I2cWriteReadTransaction>(address){};
+    As5600() : modm::I2cDevice<I2cMaster, 1>(ADDRESS){};
 
     void update() { run(); }
 
@@ -21,25 +19,24 @@ class Encoder : public modm::I2cDevice<I2cMaster, 10, modm::I2cWriteReadTransact
 
         while (true)
         {
-            PT_WAIT_UNTIL(this->startWriteRead(writeBuf, 1, buffer, 2));
+            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_YIELD();
         }
 
         PT_END();
     }
 
+    /// @brief Get current measured angle of the encoder
+    /// @return Angle (revs)
     float getAngle() { return angle / 4096.0f; }
 
 protected:
-    static const uint8_t slave_address = 0x36;  // address of the AS5600
-
     enum class Register : uint8_t
     {
         ZPOS = 0x01,
@@ -55,9 +52,9 @@ class Encoder : public modm::I2cDevice<I2cMaster, 10, modm::I2cWriteReadTransact
     };
 
 private:
-    uint16_t angle;
+    static const uint8_t ADDRESS = 0x36;
+    uint16_t angle = 0;
     uint8_t buffer[2];
-    const uint8_t writeBuf[1] = {0x0E};
 };
 
-};  // namespace encoder
+};  // namespace driver

ut-robomaster/src/main.cpp

@@ -6,10 +6,11 @@
 #include "tap/motor/motorsim/sim_handler.hpp"
 #endif
 
-#include "drivers/board.hpp"
 #include "modm/architecture/interface/delay.hpp"
 #include "modm/platform.hpp"
 
+#include "board.hpp"
+
 /* arch includes ------------------------------------------------------------*/
 #include "tap/architecture/periodic_timer.hpp"
 #include "tap/architecture/profiler.hpp"