commit 35d0661ceda31c6ecaa2b4150a2142e68aed6376
author Austin Schuh <austin@peloton-tech.com> Sun Feb 15 23:35:23 2015 -0800
committer Austin Schuh <austin@peloton-tech.com> Mon Feb 16 13:32:53 2015 -0800
tree 2c30f6f7151d10f3526c8b8eb066c7d8042914f1
parent f04a2e8a45075c54d02d5e62415fec1b03eb7c08

Fixed conversion functions and modified drivetrain msg so it can be logged.

Change-Id: I925303e6ceb4d92bfde098e3580526c9eefd6a5f

frc971/wpilib/wpilib_interface.cc

diff --git a/frc971/wpilib/wpilib_interface.cc b/frc971/wpilib/wpilib_interface.cc
index de1ed32..0cebf53 100644
--- a/frc971/wpilib/wpilib_interface.cc
+++ b/frc971/wpilib/wpilib_interface.cc
@@ -69,9 +69,9 @@
 }
 
 double arm_potentiometer_translate(double voltage) {
-  return voltage /
+  return voltage *
           constants::GetValues().arm_pot_ratio *
-          (5.0 /*volts*/ / 5.0 /*turns*/) *
+          (5.0 /*turns*/ / 5.0 /*volts*/) *
           (2 * M_PI /*radians*/);
 }
 
@@ -84,11 +84,11 @@
 }
 
 double elevator_potentiometer_translate(double voltage) {
-  return voltage /
+  return voltage *
           constants::GetValues().elev_pot_ratio *
           (2 * M_PI /*radians*/) *
           constants::GetValues().elev_distance_per_radian *
-          (5.0 /*volts*/ / 5.0 /*turns*/);
+          (5.0 /*turns*/ / 5.0 /*volts*/);
 }
 
 double claw_translate(int32_t in) {
@@ -99,9 +99,9 @@
 }
 
 double claw_potentiometer_translate(double voltage) {
-  return voltage /
+  return voltage *
           constants::GetValues().claw_pot_ratio *
-          (5.0 /*volts*/ / 5.0 /*turns*/) *
+          (5.0 /*turns*/ / 5.0 /*volts*/) *
           (2 * M_PI /*radians*/);
 }
 
@@ -249,10 +249,15 @@
       new_state.Send();
     }
 
-    drivetrain_queue.position.MakeWithBuilder()
-        .right_encoder(drivetrain_translate(right_encoder_->GetRaw()))
-        .left_encoder(-drivetrain_translate(left_encoder_->GetRaw()))
-        .Send();
+    {
+      auto drivetrain_message = drivetrain_queue.position.MakeMessage();
+      drivetrain_message->right_encoder =
+          drivetrain_translate(right_encoder_->GetRaw());
+      drivetrain_message->left_encoder =
+          -drivetrain_translate(left_encoder_->GetRaw());
+
+      drivetrain_message.Send();
+    }
 
     dma_synchronizer_->RunIteration();