2013 hardware interface work
diff --git a/frc971/queues/sensor_values.h b/frc971/queues/sensor_values.h
index 16d6890..95cfc27 100644
--- a/frc971/queues/sensor_values.h
+++ b/frc971/queues/sensor_values.h
@@ -1,22 +1,38 @@
-#ifndef __COMMON_SENSOR_VALUES_H_
-#define __COMMON_SENSOR_VALUES_H_
+#ifndef FRC971_QUEUES_SENSOR_VALUES_H_
+#define FRC971_QUEUES_SENSOR_VALUES_H_
#include <stdint.h>
namespace frc971 {
struct sensor_values {
- union {
- struct {
- int32_t lencoder, rencoder;
- };
- uint32_t encoders[2];
- };
+ // Anonymous union to make fixing the byte order on all of the 4-byte long
+ // values easier.
+ // TODO(brians) name this better
+ union {
+ struct {
+ int32_t drive_left_encoder, drive_right_encoder;
+ int32_t shooter_encoder;
+ int32_t index_encoder, bottom_disc_negedge_wait_position;
+ int32_t bottom_disc_posedge_count, bottom_disc_negedge_count;
+ int32_t bottom_disc_negedge_wait_count;
+ int32_t top_disc_posedge_count, top_disc_negedge_count;
+ int32_t top_disc_posedge_position, top_disc_negedge_position;
+ int32_t wrist_position, wrist_edge_position;
+ int32_t angle_adjust_position;
+ int32_t angle_adjust_middle_edge_position;
+ int32_t angle_adjust_bottom_edge_position;
+ };
+ uint32_t encoders[17];
+ };
- // TODO(2013) all the rest
+ bool wrist_hall_effect;
+ bool angle_adjust_middle_hall_effect;
+ bool angle_adjust_bottom_hall_effect;
+
+ bool top_disc, bottom_disc;
};
-} // namespace frc971
+} // namespace frc971
-#endif
-
+#endif // FRC971_QUEUES_SENSOR_VALUES_H_