arduino for buttons

README.md

@@ -6,6 +6,7 @@
 What's here:
 
 * **comp**: RoboRIO competition code for 2025
+* **console**: Button board hardware and code
 * **doc**: Documentation: look here for instructions!
 * **lib**: Evergreen RoboRIO library code
 * **raspberry_pi** Coprocessor tasks: vision, logging, GTSAM

console/arduino/buttons_2025/README.md

@@ -0,0 +1,5 @@
+# Buttons 2025
+
+The 2025 button board consists of 32 discrete switches, wired
+to two Adafruit MCP23017 I/O boards, which are connected to
+a Sparkfun Arduino Pro Micro via I2C.

console/arduino/buttons_2025/Sensor.h

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+#ifndef SENSOR_H
+#define SENSOR_H
+#include "Data.h"
+#include <Adafruit_MCP23X17.h>
+
+/**
+ * The sensor consists of two MCP23017 boards.
+ */
+class Sensor {
+public:
+  /**
+   * Sets pin modes.
+   */
+  void initialize() {
+    mcp0.begin_I2C(0x20);
+    mcp1.begin_I2C(0x21);
+    // These are the "A" pins.
+    mcp0.pinMode(0, INPUT_PULLUP);
+    mcp0.pinMode(1, INPUT_PULLUP);
+    mcp0.pinMode(2, INPUT_PULLUP);
+    mcp0.pinMode(3, INPUT_PULLUP);
+    mcp0.pinMode(4, INPUT_PULLUP);
+    mcp0.pinMode(5, INPUT_PULLUP);
+    mcp0.pinMode(6, INPUT_PULLUP);
+    mcp0.pinMode(7, INPUT_PULLUP);
+    // These are the "B" pins.
+    mcp0.pinMode(8, INPUT_PULLUP);
+    mcp0.pinMode(9, INPUT_PULLUP);
+    mcp0.pinMode(10, INPUT_PULLUP);
+    mcp0.pinMode(11, INPUT_PULLUP);
+    mcp0.pinMode(12, INPUT_PULLUP);
+    mcp0.pinMode(13, INPUT_PULLUP);
+    mcp0.pinMode(14, INPUT_PULLUP);
+    mcp0.pinMode(15, INPUT_PULLUP);
+    // These are the "A" pins.
+    mcp1.pinMode(0, INPUT_PULLUP);
+    mcp1.pinMode(1, INPUT_PULLUP);
+    mcp1.pinMode(2, INPUT_PULLUP);
+    mcp1.pinMode(3, INPUT_PULLUP);
+    mcp1.pinMode(4, INPUT_PULLUP);
+    mcp1.pinMode(5, INPUT_PULLUP);
+    mcp1.pinMode(6, INPUT_PULLUP);
+    mcp1.pinMode(7, INPUT_PULLUP);
+    // These are the "B" pins.
+    mcp1.pinMode(8, INPUT_PULLUP);
+    mcp1.pinMode(9, INPUT_PULLUP);
+    mcp1.pinMode(10, INPUT_PULLUP);
+    mcp1.pinMode(11, INPUT_PULLUP);
+    mcp1.pinMode(12, INPUT_PULLUP);
+    mcp1.pinMode(13, INPUT_PULLUP);
+    mcp1.pinMode(14, INPUT_PULLUP);
+    mcp1.pinMode(15, INPUT_PULLUP);
+  }
+
+  /**
+   * Reads the switch state and writes the values into reportTx.
+   */
+  void sense(ReportTx& reportTx) {
+    uint16_t gpio0 = mcp0.readGPIOAB();
+    uint16_t gpio1 = mcp1.readGPIOAB();
+    reportTx.b1 = gpio0 & 0b0000000000000001;
+    reportTx.b2 = gpio0 & 0b0000000000000010;
+    reportTx.b3 = gpio0 & 0b0000000000000100;
+    reportTx.b4 = gpio0 & 0b0000000000001000;
+    reportTx.b5 = gpio0 & 0b0000000000010000;
+    reportTx.b6 = gpio0 & 0b0000000000100000;
+    reportTx.b7 = gpio0 & 0b0000000001000000;
+    reportTx.b8 = gpio0 & 0b0000000010000000;
+    reportTx.b9 = gpio0 & 0b0000000100000000;
+    reportTx.b10 = gpio0 & 0b0000001000000000;
+    reportTx.b11 = gpio0 & 0b0000010000000000;
+    reportTx.b12 = gpio0 & 0b0000100000000000;
+    reportTx.b13 = gpio0 & 0b0001000000000000;
+    reportTx.b14 = gpio0 & 0b0010000000000000;
+    reportTx.b15 = gpio0 & 0b0100000000000000;
+    reportTx.b16 = gpio0 & 0b1000000000000000;
+    reportTx.b17 = gpio1 & 0b0000000000000001;
+    reportTx.b18 = gpio1 & 0b0000000000000010;
+    reportTx.b19 = gpio1 & 0b0000000000000100;
+    reportTx.b20 = gpio1 & 0b0000000000001000;
+    reportTx.b21 = gpio1 & 0b0000000000010000;
+    reportTx.b22 = gpio1 & 0b0000000000100000;
+    reportTx.b23 = gpio1 & 0b0000000001000000;
+    reportTx.b24 = gpio1 & 0b0000000010000000;
+    reportTx.b25 = gpio1 & 0b0000000100000000;
+    reportTx.b26 = gpio1 & 0b0000001000000000;
+    reportTx.b27 = gpio1 & 0b0000010000000000;
+    reportTx.b28 = gpio1 & 0b0000100000000000;
+    reportTx.b29 = gpio1 & 0b0001000000000000;
+    reportTx.b30 = gpio1 & 0b0010000000000000;
+    reportTx.b31 = gpio1 & 0b0100000000000000;
+    reportTx.b32 = gpio1 & 0b1000000000000000;
+  }
+
+private:
+  Adafruit_MCP23X17 mcp0;
+  Adafruit_MCP23X17 mcp1;
+};
+#endif  // SENSOR_H

console/arduino/buttons_2025/buttons_2025.ino

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+#include "Data.h"
+#include "Transceiver.h"
+#include "Sensor.h"
+
+ReportRx reportRx_;
+ReportTx reportTx_;
+Sensor sensor_;
+Transceiver transceiver_(Transceiver::SubConsole::BUTTONS_2025, reportRx_);
+
+void setup() {
+  sensor_.initialize();
+}
+
+void loop() {
+  sensor_.sense(reportTx_);
+  transceiver_.send(reportTx_);
+  // The sensor has an issue triggered by state changes during I2C transmission:
+  // https://github.com/adafruit/Adafruit-MCP23017-Arduino-Library/issues/96
+  // To minimize the incidence of that bug, minimize the sample rate.
+  delay(100);
+}

console/arduino/key_array/README.md

@@ -0,0 +1,4 @@
+# Key Array
+
+The key array uses keyboard switches and a keyboard-style
+PCB connected as a crosspoint switch array.

console/arduino/libraries/Adafruit_MCP23017_Arduino_Library/README.md

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+# Adafruit MCP23017 Arduino Library [![Build Status](https://github.com/adafruit/Adafruit-MCP23017-Arduino-Library/workflows/Arduino%20Library%20CI/badge.svg)](https://github.com/adafruit/Adafruit-MCP23017-Arduino-Library/actions)[![Documentation](https://github.com/adafruit/ci-arduino/blob/master/assets/doxygen_badge.svg)](http://adafruit.github.io/Adafruit-MCP23017-Arduino-Library/html/index.html)
+
+This is a library for the MCP23008/17 I2C and MCP23S08/17 SPI Port Expanders.
+
+Adafruit invests time and resources providing this open source code,
+please support Adafruit and open-source hardware by purchasing
+products from Adafruit!
+
+Written by Carter Nelson for Adafruit Industries.
+BSD license, check license.txt for more information
+All text above must be included in any redistribution
+
+To install, use the Arduino IDE Library Manager.
+
+# Pin Addressing
+
+When using single pin operations such as _pinMode(pinId, dir)_ or _digitalRead(pinId)_  or _digitalWrite(pinId, val)_ then the pins are addressed using the ID's below. For example, for set the mode of _GPB0_ then use _pinMode(8, ...)_. **NOTE** The MCP23008 and MCP23S08 only have _GPAx_ pins.
+
+| MCP23x08 Pin # | MCP23x17 Pin # | Pin Name | Pin ID |
+| :------------: | :------------: | :------: | :----: |
+|       10       |       21       |   GPA0   |   0    |
+|       11       |       22       |   GPA1   |   1    |
+|       12       |       23       |   GPA2   |   2    |
+|       13       |       24       |   GPA3   |   3    |
+|       14       |       25       |   GPA4   |   4    |
+|       15       |       26       |   GPA5   |   5    |
+|       16       |       27       |   GPA6   |   6    |
+|       17       |       28       |   GPA7   |   7    |
+|       --       |       1        |   GPB0   |   8    |
+|       --       |       2        |   GPB1   |   9    |
+|       --       |       3        |   GPB2   |   10   |
+|       --       |       4        |   GPB3   |   11   |
+|       --       |       5        |   GPB4   |   12   |
+|       --       |       6        |   GPB5   |   13   |
+|       --       |       7        |   GPB6   |   14   |
+|       --       |       8        |   GPB7   |   15   |
+
+# Use of HW address pins for SPI device
+
+Library supports MCP23Sxx HW pin addressing (A2, A1, A0 for S17 and A1, A0 for S08)
+To use it provide HW address to begin_SPI(CS, SPI, HW_ADDR) function, and as a result each SPI message will contain correct chip address.
+
+Example:
+mcp.begin_SPI(10, &SPI, 0b101);
+
+HW Address recognition must be enabled by enableAddrPins() function. **NOTE** Calling enableAddrPins() will enable IOCON.HAEN bit for all active (CS low) devices on SPI bus.
+**NOTE**
+There is hardware bug in the MCP23S17 chip, see "MCP23S17 Rev. A Silicon Errata".
+As a result, if using device with A2 = high, and not using addressing, hw address must be set to 0b1XX
+In such case, even if not using addressing, initalize your MCP23S17 chip with 0b1XX address, eg: mcp.begin_SPI(10, &SPI, 0b100);.
+
+# Warning
+
+Some people have reported an undocumented bug that can potentially corrupt the I2C bus.
+It occurs if an MCP230XX input pin state changes during I2C readout. **This should be very rare.** For more information, see this [forum post](https://www.microchip.com/forums/m646539.aspx) and this [knowledge base article](https://microchipsupport.force.com/s/article/On-MCP23008-MCP23017-SDA-line-change-when-GPIO7-input-change>).

console/arduino/libraries/Adafruit_MCP23017_Arduino_Library/examples/mcp23xxx_blink/mcp23xxx_blink.ino

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+// Blinks an LED attached to a MCP23XXX pin.
+
+// ok to include only the one needed
+// both included here to make things simple for example
+#include <Adafruit_MCP23X08.h>
+#include <Adafruit_MCP23X17.h>
+
+#define LED_PIN 0     // MCP23XXX pin LED is attached to
+
+// only used for SPI
+#define CS_PIN 6
+
+// uncomment appropriate line
+Adafruit_MCP23X08 mcp;
+//Adafruit_MCP23X17 mcp;
+
+void setup() {
+  Serial.begin(9600);
+  //while (!Serial);
+  Serial.println("MCP23xxx Blink Test!");
+
+  // uncomment appropriate mcp.begin
+  if (!mcp.begin_I2C()) {
+  //if (!mcp.begin_SPI(CS_PIN)) {
+    Serial.println("Error.");
+    while (1);
+  }
+
+  // configure pin for output
+  mcp.pinMode(LED_PIN, OUTPUT);
+
+  Serial.println("Looping...");
+}
+
+void loop() {
+  mcp.digitalWrite(LED_PIN, HIGH);
+  delay(500);
+  mcp.digitalWrite(LED_PIN, LOW);
+  delay(500);
+}

console/arduino/libraries/Adafruit_MCP23017_Arduino_Library/examples/mcp23xxx_button/mcp23xxx_button.ino

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+// Reads a button attached to a MCP23XXX pin.
+
+// ok to include only the one needed
+// both included here to make things simple for example
+#include <Adafruit_MCP23X08.h>
+#include <Adafruit_MCP23X17.h>
+
+#define BUTTON_PIN 1  // MCP23XXX pin button is attached to
+
+// only used for SPI
+#define CS_PIN 6
+
+// uncomment appropriate line
+Adafruit_MCP23X08 mcp;
+//Adafruit_MCP23X17 mcp;
+
+void setup() {
+  Serial.begin(9600);
+  //while (!Serial);
+  Serial.println("MCP23xxx Button Test!");
+
+  // uncomment appropriate mcp.begin
+  if (!mcp.begin_I2C()) {
+  //if (!mcp.begin_SPI(CS_PIN)) {
+    Serial.println("Error.");
+    while (1);
+  }
+
+  // configure pin for input with pull up
+  mcp.pinMode(BUTTON_PIN, INPUT_PULLUP);
+
+  Serial.println("Looping...");
+}
+
+void loop() {
+  // LOW = pressed, HIGH = not pressed
+  if (!mcp.digitalRead(BUTTON_PIN)) {
+    Serial.println("Button Pressed!");
+    delay(250);
+  }
+}

console/arduino/libraries/Adafruit_MCP23017_Arduino_Library/examples/mcp23xxx_combo/mcp23xxx_combo.ino

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+// Controls an LED via an attached button.
+
+// ok to include only the one needed
+// both included here to make things simple for example
+#include <Adafruit_MCP23X08.h>
+#include <Adafruit_MCP23X17.h>
+
+#define LED_PIN 0     // MCP23XXX pin LED is attached to
+#define BUTTON_PIN 1  // MCP23XXX pin button is attached to
+
+// only used for SPI
+#define CS_PIN 6
+
+// uncomment appropriate line
+Adafruit_MCP23X08 mcp;
+//Adafruit_MCP23X17 mcp;
+
+void setup() {
+  Serial.begin(9600);
+  //while (!Serial);
+  Serial.println("MCP23xxx Combo Test!");
+
+  // uncomment appropriate mcp.begin
+  if (!mcp.begin_I2C()) {
+  //if (!mcp.begin_SPI(CS_PIN)) {
+    Serial.println("Error.");
+    while (1);
+  }
+
+  // configure LED pin for output
+  mcp.pinMode(LED_PIN, OUTPUT);
+
+  // configure button pin for input with pull up
+  mcp.pinMode(BUTTON_PIN, INPUT_PULLUP);
+
+  Serial.println("Looping...");
+}
+
+void loop() {
+  mcp.digitalWrite(LED_PIN, !mcp.digitalRead(BUTTON_PIN));
+}

console/arduino/libraries/Adafruit_MCP23017_Arduino_Library/examples/mcp23xxx_interrupt/mcp23xxx_interrupt.ino

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+// NOTE: This is a simple example that only reads the INTA or INTB pin
+//       state. No actual interrupts are used on the host microcontroller.
+//       MCP23XXX supports the following interrupt modes:
+//           * CHANGE - interrupt occurs if pin changes to opposite state
+//           * LOW - interrupt occurs while pin state is LOW
+//           * HIGH - interrupt occurs while pin state is HIGH
+
+// ok to include only the one needed
+// both included here to make things simple for example
+#include <Adafruit_MCP23X08.h>
+#include <Adafruit_MCP23X17.h>
+
+#define BUTTON_PIN 1   // MCP23XXX pin used for interrupt
+
+#define INT_PIN 7      // microcontroller pin attached to INTA/B
+
+// only used for SPI
+#define CS_PIN 6
+
+// uncomment appropriate line
+Adafruit_MCP23X08 mcp;
+//Adafruit_MCP23X17 mcp;
+
+void setup() {
+  Serial.begin(9600);
+  //while (!Serial);
+  Serial.println("MCP23xxx Interrupt Test!");
+
+  // uncomment appropriate mcp.begin
+  if (!mcp.begin_I2C()) {
+  //if (!mcp.begin_SPI(CS_PIN)) {
+    Serial.println("Error.");
+    while (1);
+  }
+
+  // configure MCU pin that will read INTA/B state
+  pinMode(INT_PIN, INPUT);
+
+  // OPTIONAL - call this to override defaults
+  // mirror INTA/B so only one wire required
+  // active drive so INTA/B will not be floating
+  // INTA/B will be signaled with a LOW
+  mcp.setupInterrupts(true, false, LOW);
+
+  // configure button pin for input with pull up
+  mcp.pinMode(BUTTON_PIN, INPUT_PULLUP);
+
+  // enable interrupt on button_pin
+  mcp.setupInterruptPin(BUTTON_PIN, LOW);
+
+  Serial.println("Looping...");
+}
+
+void loop() {
+  if (!digitalRead(INT_PIN)) {
+    Serial.print("Interrupt detected on pin: ");
+    Serial.println(mcp.getLastInterruptPin());
+    Serial.print("Pin states at time of interrupt: 0b");
+    Serial.println(mcp.getCapturedInterrupt(), 2);
+    delay(250);  // debounce
+    // NOTE: If using DEFVAL, INT clears only if interrupt
+    // condition does not exist.
+    // See Fig 1-7 in datasheet.
+    mcp.clearInterrupts();  // clear
+  }
+}