New C18 3.0+ Compatible FRC Code

[Kevin Watson]

Originally Posted by paulcd2000

It has been explained how to add encoders to the gyro code, how about the reverse?

Assuming you want to add the gyro code to your project, lets see if I can do this off the top of my head:

1) Add adc.c/.h and gyro.c/.h to your project directory.
2) Add adc.c/.h and gyro.c/.h to your MPLAB project.
3) Add #include "adc.h" and #include "gyro.h" at the top of teleop.c.
4) Add a call to Initialize_ADC() and Initialize_Gyro() in teleop.c/Initialization().
5) If needed, add #include gyro.h to the top of autonomous.c and/or disabled.c
6) Where needed, add a call to Process_Gyro_Data() in the *_spin() functions.
7) Enable the timer 4 ISR at the top of ifi_frc.h.
8) Make sure timer 4 is disabled at the top of timers.h.
9) Add calibration code somewhere like disabled.c/Disabled() (this requires that you use a mode dongle to emulate the field controller, which will put you in disabled mode for a period of time before transitioning to autonomous mode).
10) Do anything else I forgot to mention here <grin>.
11) Compile, test, calibrate your gyro (see gyro.h).

-Kevin