commit 2f3c20f14d2176c6c155a85af282fbbaca8b0f33
author Kyle Stachowicz <kylestach99@gmail.com> Thu Jul 13 16:04:05 2017 -0700
committer Kyle Stachowicz <kylestach99@gmail.com> Sun Jul 16 13:34:52 2017 -0700
tree 887687d78ca7df69341024226eeadeb32c0a9752
parent 2474d9b0802bbf3b8d224695fc95de35656071c2

Log gear/shifting info in drivetrain status instead of seperate structs

Change-Id: Ib25174051fab63ec7b453da02ddf5f0a12e0145d

frc971/control_loops/drivetrain/drivetrain.cc

diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index 7a44b64..d42e6c6 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -117,15 +117,16 @@
   }
 
   kf_.set_index(ControllerIndexFromGears());
-  {
-    GearLogging gear_logging;
-    gear_logging.left_state = static_cast<uint32_t>(left_gear_);
-    gear_logging.right_state = static_cast<uint32_t>(right_gear_);
-    gear_logging.left_loop_high = MaybeHigh(left_gear_);
-    gear_logging.right_loop_high = MaybeHigh(right_gear_);
-    gear_logging.controller_index = kf_.index();
-    LOG_STRUCT(DEBUG, "state", gear_logging);
+
+  // Set the gear-logging parts of the status
+  if (status) {
+    status->gear_logging.left_state = static_cast<uint32_t>(left_gear_);
+    status->gear_logging.right_state = static_cast<uint32_t>(right_gear_);
+    status->gear_logging.left_loop_high = MaybeHigh(left_gear_);
+    status->gear_logging.right_loop_high = MaybeHigh(right_gear_);
+    status->gear_logging.controller_index = kf_.index();
   }
+
   const bool is_latest_imu_values = ::frc971::imu_values.FetchLatest();
   if (is_latest_imu_values) {
     const double rate = -::frc971::imu_values->gyro_y;