commit 3e9464f2a9ca85fcc5cd56eb87611d6d94630c16
author Brian Silverman <brians> Fri Nov 01 15:36:08 2013 -0700
committer Brian Silverman <brians> Fri Nov 01 15:36:08 2013 -0700
tree fca2386c90ec305600a5f6c83c74efb35193ccf2
parent d6d30fd99a742dffa23498c1b1deb759a29ad7aa

disabled reading analog inputs with burst mode (for now at least)

gyro_board/src/usb/encoder.c

diff --git a/gyro_board/src/usb/encoder.c b/gyro_board/src/usb/encoder.c
index f01dd47..c04a8b8 100644
--- a/gyro_board/src/usb/encoder.c
+++ b/gyro_board/src/usb/encoder.c
@@ -509,9 +509,6 @@
     packet->main.left_drive = encoder5_val;
     packet->main.right_drive = encoder4_val;
     packet->main.indexer = encoder3_val;
-    packet->main.battery_voltage = analog(3);
-    packet->main.left_drive_hall = analog(1);
-    packet->main.right_drive_hall = analog(2);
 
     NVIC_DisableIRQ(EINT3_IRQn);
 
@@ -535,6 +532,7 @@
     packet->main.capture_bottom_fall_delay = capture_bottom_fall_delay;
     packet->main.bottom_fall_delay_count = bottom_fall_delay_count;
     packet->main.bottom_fall_count = bottom_fall_count;
+    packet->main.bottom_rise_count = bottom_rise_count;
     packet->main.bottom_disc = !digital(1);
 
     NVIC_EnableIRQ(EINT3_IRQn);
@@ -553,6 +551,10 @@
 
     NVIC_EnableIRQ(EINT3_IRQn);
 
-    packet->main.bottom_rise_count = bottom_rise_count;
+    // Do all of the analogs last because they have the potential to be slow and
+    // jittery.
+    packet->main.battery_voltage = analog(3);
+    packet->main.left_drive_hall = analog(1);
+    packet->main.right_drive_hall = analog(2);
   }
 }