reorganized the gyro code + implemented actual error checking
diff --git a/gyro_board/src/usb/encoder.c b/gyro_board/src/usb/encoder.c
index 581ddb4..6c4999c 100644
--- a/gyro_board/src/usb/encoder.c
+++ b/gyro_board/src/usb/encoder.c
@@ -6,6 +6,7 @@
#include "digital.h"
#include "analog.h"
+#include "gyro.h"
// How long (in ms) to wait after a falling edge on the bottom indexer sensor
// before reading the indexer encoder.
@@ -474,7 +475,9 @@
}
void fillSensorPacket(struct DataStruct *packet) {
- packet->gyro_angle = gyro_angle;
+ packet->gyro_angle = gyro_output.angle;
+ packet->old_gyro_reading = gyro_output.last_reading_bad;
+ packet->bad_gyro = gyro_output.gyro_bad;
packet->dip_switch0 = dip_switch(0);
packet->dip_switch1 = dip_switch(1);