commit 1289dedfccfe76fcc4f34ec1a39488f1be8ad3d4
author Brian Silverman <brians> Fri Mar 29 21:59:51 2013 -0700
committer Brian Silverman <brians> Fri Mar 29 21:59:51 2013 -0700
tree 8b8ce6ff3fe0791d943ee2dd116ab1652901d48e
parent 5e4975c490d450aef8ff7ecf5d99f6d34aca953d

added (wrong port numbered) support for the digital inputs

gyro_board/src/usb/analog.c

diff --git a/gyro_board/src/usb/analog.c b/gyro_board/src/usb/analog.c
index a956a5d..cfcd67d 100644
--- a/gyro_board/src/usb/analog.c
+++ b/gyro_board/src/usb/analog.c
@@ -495,10 +495,18 @@
   packet->left_drive = encoder5_val;
   packet->shooter_angle = encoder2_val;
   packet->indexer = encoder3_val;
-  packet->wrist = (int32_t)QEI->QEIPOS;
 
-  // TODO(brians): should we re-enable it in between here so that it's disabled
-  // for shorter chunks?
+  NVIC_DisableIRQ(EINT1_IRQn);
+  NVIC_DisableIRQ(EINT2_IRQn);
+
+  packet->wrist = (int32_t)QEI->QEIPOS;
+  packet->wrist_hall_effect = digital(0);
+  packet->capture_wrist_rise = capture_wrist_rise;
+  packet->wrist_rise_count = wrist_rise_count;
+
+  NVIC_EnableIRQ(EINT1_IRQn);
+  NVIC_EnableIRQ(EINT2_IRQn);
+
   NVIC_DisableIRQ(EINT3_IRQn);
 
   packet->capture_top_rise = capture_top_rise;
@@ -506,16 +514,16 @@
 
   packet->capture_top_fall = capture_top_fall;
   packet->top_fall_count = top_fall_count;
+  packet->top_disc = digital(4);
 
   packet->capture_bottom_fall_delay = capture_bottom_fall_delay;
   packet->bottom_fall_delay_count = bottom_fall_delay_count;
   packet->bottom_fall_count = bottom_fall_count;
-
-  packet->capture_wrist_rise = capture_wrist_rise;
-  packet->wrist_rise_count = wrist_rise_count;
+  packet->bottom_disc = digital(3);
 
   packet->capture_shooter_angle_rise = capture_shooter_angle_rise;
   packet->shooter_angle_rise_count = shooter_angle_rise_count;
+  packet->angle_adjust_bottom_hall_effect = digital(2);
 
   NVIC_EnableIRQ(EINT3_IRQn);