Add NavX Reader Code

Tested
- Robby S

Author: PhyXTGears-1720

src/main/cpp/Robot.cpp

@@ -43,6 +43,9 @@ DriveSandstormStepWithHatch*    Robot::m_DriveSandstormStepWithHatch;
 // Initialize JSON reader
 wpi::json                       Robot::m_JsonConfig;
 
+// NavX
+AHRS                            Robot::m_AHRS{kNavxPin};
+
 Robot::Robot() {
     // get the json config deployed onto the roborio
     std::ifstream jsonStream(CONFIGPATH);
@@ -124,6 +127,8 @@ void Robot::RobotPeriodic() {
         }
         m_UsingCamera1 = !m_UsingCamera1;
     }
+
+    std::cout << "Pitch: " << m_AHRS.GetPitch() << "\tRoll: " << m_AHRS.GetRoll() << "\tYaw: " << m_AHRS.GetYaw() << std::endl;
 }
 
 void Robot::DisabledInit() {

src/main/include/Robot.h

@@ -43,10 +43,13 @@
 #include "OI.h"
 #include "RobotMap.h"
 
+// NavX
+#include "AHRS.h"
+
 class Robot : public frc::TimedRobot {
     public:
         // Operator Interface
-        static OI m_OI;
+        static OI                               m_OI;
 
         // Subsystems
         static DriveTrain*                      m_DriveTrain;
@@ -80,6 +83,9 @@ class Robot : public frc::TimedRobot {
 
         // JSON Reader for Config (this should probably be moved later)
         static wpi::json                        m_JsonConfig;
+
+        // NavX
+        static AHRS                             m_AHRS;
 
         Robot();
         void RobotInit() override;

src/main/include/RobotMap.h

@@ -150,4 +150,5 @@
 // Cargo hatch cheesecake
 #   define kCargoHatchCheesecakeMotor PWM_3
 
+#   define kNavxPin I2C::Port::kMXP
 #endif

vendordeps/navx_frc.json

@@ -0,0 +1,33 @@
+{
+    "fileName": "navx_frc.json",
+    "name": "KauaiLabs_navX_FRC",
+    "version": "3.1.366",
+    "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
+    "mavenUrls": [
+        "https://repo1.maven.org/maven2/"
+    ],
+    "jsonUrl": "https://www.kauailabs.com/dist/frc/2019/navx_frc.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.kauailabs.navx.frc",
+            "artifactId": "navx-java",
+            "version": "3.1.366"
+        }
+    ],
+    "jniDependencies": [],
+    "cppDependencies": [
+        {
+            "groupId": "com.kauailabs.navx.frc",
+            "artifactId": "navx-cpp",
+            "version": "3.1.366",
+            "headerClassifier": "headers",
+            "sourcesClassifier": "sources",
+            "sharedLibrary": false,
+            "libName": "navx_frc",
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxathena"
+            ]
+        }
+    ]
+}