Kicker Controller + Programmer

[N8BWert]

Description

This PR writes the necessary firmware to program and interact with the kickers on our robots. The process for making the kicker programmer was relatively difficult and a software-controlled SPI line was created to address speed differences between the Teensy's LPSPI and the maximum SPI speed for programming the Atmega32a (kicker board). The kicker interaction also uses the same "fake" SPI peripheral.

Associated / Resolved Issue

Kicker Programmer Driver Kicker Controller Driver

Steps to Test

Kick on breakbeam

1. Run kicker_on_breakbeam.rs example to program the kicker with kick-on-breakbeam
2. Put something in the robot's mouth to see it kick on breakbeam being tripped

Kick on command

1. Run kicker_program.rs example to program the kicker with the current binary
2. Run the kicker_demo.rs example to charge the kicker, kick on command, and then recharge the kicker.

Key Files to Review

Kicker Programmer

• control/drivers/kicker-programmer/lib.rs

Kicker Controller

• control/drivers/kicker-controller/lib.rs

Kicker Demos

• control/examples/kicker_on_breakbeam.rs
• control/examples/kicker_program.rs
• control/examples/kicker_demo.rs

Review Checklist

• Docstrings: All methods and classes should have the file appropriate docstrings which follow the guidelines in the "Contributing"
  page of our docs.
• Remove extra print statements: Any print statements used for debugging should be removed
• Tag reviewers: Tag some people for review and ping them on Slack

[wadengroff]

Looks good after those changes are made.