[romi/xrp] Add Romi and XRP Vendordeps (#5644)

romiVendordep/src/main/native/include/frc/romi/OnBoardIO.h

@@ -0,0 +1,76 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <memory>
+
+#include <frc/DigitalInput.h>
+#include <frc/DigitalOutput.h>
+#include <units/time.h>
+
+namespace frc {
+
+/**
+ * This class represents the onboard IO of the Romi
+ * reference robot. This includes the pushbuttons and
+ * LEDs.
+ *
+ * <p>DIO 0 - Button A (input only)
+ * DIO 1 - Button B (input) or Green LED (output)
+ * DIO 2 - Button C (input) or Red LED (output)
+ * DIO 3 - Yellow LED (output only)
+ */
+class OnBoardIO {
+ public:
+  enum ChannelMode { INPUT, OUTPUT };
+  OnBoardIO(OnBoardIO::ChannelMode dio1, OnBoardIO::ChannelMode dio2);
+
+  static constexpr auto kMessageInterval = 1_s;
+  units::second_t m_nextMessageTime = 0_s;
+
+  /**
+   * Gets if the A button is pressed.
+   */
+  bool GetButtonAPressed();
+
+  /**
+   * Gets if the B button is pressed.
+   */
+  bool GetButtonBPressed();
+
+  /**
+   * Gets if the C button is pressed.
+   */
+  bool GetButtonCPressed();
+
+  /**
+   * Sets the green LED.
+   */
+  void SetGreenLed(bool value);
+
+  /**
+   * Sets the red LED.
+   */
+  void SetRedLed(bool value);
+
+  /**
+   * Sets the yellow LED.
+   */
+  void SetYellowLed(bool value);
+
+ private:
+  frc::DigitalInput m_buttonA{0};
+  frc::DigitalOutput m_yellowLed{3};
+
+  // DIO 1
+  std::unique_ptr<frc::DigitalInput> m_buttonB;
+  std::unique_ptr<frc::DigitalOutput> m_greenLed;
+
+  // DIO 2
+  std::unique_ptr<frc::DigitalInput> m_buttonC;
+  std::unique_ptr<frc::DigitalOutput> m_redLed;
+};
+
+}  // namespace frc

romiVendordep/src/main/native/include/frc/romi/RomiGyro.h

@@ -0,0 +1,91 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <hal/SimDevice.h>
+
+namespace frc {
+
+/**
+ * Use a rate gyro to return the robots heading relative to a starting position.
+ *
+ * This class is for the Romi onboard gyro, and will only work in
+ * simulation/Romi mode. Only one instance of a RomiGyro is supported.
+ */
+class RomiGyro {
+ public:
+  RomiGyro();
+
+  /**
+   * Return the actual angle in degrees that the robot is currently facing.
+   *
+   * The angle is based on integration of the returned rate form the gyro.
+   * The angle is continuous, that is, it will continue from 360->361 degrees.
+   * This allows algorithms that wouldn't want to see a discontinuity in the
+   * gyro output as it sweeps from 360 to 0 on the second time around.
+   *
+   * @return the current heading of the robot in degrees.
+   */
+  double GetAngle() const;
+
+  /**
+   * Return the rate of rotation of the gyro
+   *
+   * The rate is based on the most recent reading of the gyro.
+   *
+   * @return the current rate in degrees per second
+   */
+  double GetRate() const;
+
+  /**
+   * Gets the rate of turn in degrees-per-second around the X-axis
+   */
+  double GetRateX() const;
+
+  /**
+   * Gets the rate of turn in degrees-per-second around the Y-axis
+   */
+  double GetRateY() const;
+
+  /**
+   * Gets the rate of turn in degrees-per-second around the Z-axis
+   */
+  double GetRateZ() const;
+
+  /**
+   * Gets the currently reported angle around the X-axis
+   */
+  double GetAngleX() const;
+
+  /**
+   * Gets the currently reported angle around the X-axis
+   */
+  double GetAngleY() const;
+
+  /**
+   * Gets the currently reported angle around the X-axis
+   */
+  double GetAngleZ() const;
+
+  /**
+   * Resets the gyro
+   */
+  void Reset();
+
+ private:
+  hal::SimDevice m_simDevice;
+  hal::SimDouble m_simRateX;
+  hal::SimDouble m_simRateY;
+  hal::SimDouble m_simRateZ;
+  hal::SimDouble m_simAngleX;
+  hal::SimDouble m_simAngleY;
+  hal::SimDouble m_simAngleZ;
+
+  double m_angleXOffset = 0;
+  double m_angleYOffset = 0;
+  double m_angleZOffset = 0;
+};
+
+}  // namespace frc

romiVendordep/src/main/native/include/frc/romi/RomiMotor.h

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <frc/motorcontrol/PWMMotorController.h>
+
+namespace frc {
+
+/**
+ * RomiMotor
+ *
+ * A general use PWM motor controller representing the motors on a Romi robot
+ */
+class RomiMotor : public PWMMotorController {
+ public:
+  /**
+   * Constructor for a RomiMotor.
+   *
+   * @param channel The PWM channel that the RomiMotor is attached to.
+   *                0 is left, 1 is right
+   */
+  explicit RomiMotor(int channel);
+
+  RomiMotor(RomiMotor&&) = default;
+  RomiMotor& operator=(RomiMotor&&) = default;
+};
+
+}  // namespace frc