commit 00185263822835e17171bb041d8369142cb2bb52
author Daniel Petti <djpetti@me.com> Sat Nov 23 14:05:02 2013 -0800
committer Daniel Petti <djpetti@me.com> Sat Nov 23 14:05:02 2013 -0800
tree b72ea7b0548e945c964062ecc56f51c94b6cadcb
parent 4b25ad8dab0c7dcae84a2c84d17b0409c7c78fc5

Some small cleanups and fixes to shooter stuff.

bot3/input/gyro_sensor_receiver.cc

diff --git a/bot3/input/gyro_sensor_receiver.cc b/bot3/input/gyro_sensor_receiver.cc
index 784827c..81e4190 100644
--- a/bot3/input/gyro_sensor_receiver.cc
+++ b/bot3/input/gyro_sensor_receiver.cc
@@ -32,6 +32,10 @@
 }
 
 inline double shooter_translate(int32_t in) {
+  LOG(DEBUG, "raw %" PRId32 "\n", in);
+  if (in == 0) {
+    return 0;
+  }
   return 1.0 / (static_cast<double>(in) / (10 ^ 8)/*ticks per sec*/)
     / (1 - (kTapeThickness / (2 * kWheelRadius * M_PI))) * (2 * M_PI);  
 }
@@ -63,6 +67,7 @@
         .left_encoder(0)
         .Send();*/
 
+    LOG(DEBUG, "shooter: %f\n", shooter_translate(data()->bot3.shooter_cycle_ticks));
     shooter.position.MakeWithBuilder()
         .velocity(shooter_translate(data()->bot3.shooter_cycle_ticks))
         .Send();

gyro_board/src/usb/encoder.c

diff --git a/gyro_board/src/usb/encoder.c b/gyro_board/src/usb/encoder.c
index df1031f..45374e9 100644
--- a/gyro_board/src/usb/encoder.c
+++ b/gyro_board/src/usb/encoder.c
@@ -79,7 +79,8 @@
 }
 
 static inline void reset_TC(void) {
-  TIM2->TCR |= (1 << 1); // Put it into reset.
+  TIM2->TCR = (1 << 1); // Put it into reset and disabled.
+  while (TIM2->TC != 0);
   TIM2->TCR = 1; // Take it out of reset + make sure it's enabled.
 }
 
@@ -91,7 +92,7 @@
     // Capture
     TIM2->IR = (1 << 4); // Clear the interrupt.
     
-    shooter_cycle_ticks = TIM2->CR0;
+    shooter_cycle_ticks = TIM2->CR0 + 2;
   
     reset_TC();
   } else if (TIM2->IR & 1) {
@@ -99,10 +100,10 @@
     TIM2->IR = 1; // Clear the interrupt
 
     // Assume shooter is stopped.
-    shooter_cycle_ticks = 0;
+    //shooter_cycle_ticks = 1;
 
     // Disable timer.
-    TIM2->TCR = 0;
+    //TIM2->TCR = 0;
   }
 
   // It will only handle one interrupt per run.
@@ -445,8 +446,6 @@
     // Set up timer for bot3 photosensor.
     // Make sure timer two is powered.
     SC->PCONP |= (1 << 22);
-    // Rate of clock signal is just CCLK.
-    SC->PCLKSEL1 |= (1 << 12);
     // Select capture 2.0 function on pin 0.4.
     PINCON->PINSEL0 |= (0x3 << 8);
     // Set timer to capture and interrupt on rising edge.