split out the gyro reading and the rest of other_sensors
diff --git a/frc971/actions/catch_action.cc b/frc971/actions/catch_action.cc
index 8941dff..aa4aa48 100644
--- a/frc971/actions/catch_action.cc
+++ b/frc971/actions/catch_action.cc
@@ -5,7 +5,7 @@
#include "frc971/actions/catch_action.h"
#include "frc971/control_loops/claw/claw.q.h"
-#include "frc971/queues/othersensors.q.h"
+#include "frc971/queues/other_sensors.q.h"
namespace frc971 {
namespace actions {
@@ -94,12 +94,12 @@
}
bool CatchAction::DoneFoundSonar() {
- if (!sensors::othersensors.FetchLatest()) {
- sensors::othersensors.FetchNextBlocking();
+ if (!sensors::other_sensors.FetchLatest()) {
+ sensors::other_sensors.FetchNextBlocking();
}
- LOG(DEBUG, "Sonar at %.2f.\n", sensors::othersensors->sonar_distance);
- if (sensors::othersensors->sonar_distance > 0.3 &&
- sensors::othersensors->sonar_distance < kSonarTriggerDist) {
+ LOG(DEBUG, "Sonar at %.2f.\n", sensors::other_sensors->sonar_distance);
+ if (sensors::other_sensors->sonar_distance > 0.3 &&
+ sensors::other_sensors->sonar_distance < kSonarTriggerDist) {
return true;
}
return false;
diff --git a/frc971/actions/selfcatch_action.cc b/frc971/actions/selfcatch_action.cc
index 69fa835..eef0a05 100644
--- a/frc971/actions/selfcatch_action.cc
+++ b/frc971/actions/selfcatch_action.cc
@@ -8,7 +8,7 @@
#include "frc971/control_loops/drivetrain/drivetrain.q.h"
#include "frc971/control_loops/shooter/shooter.q.h"
#include "frc971/control_loops/claw/claw.q.h"
-#include "frc971/queues/othersensors.q.h"
+#include "frc971/queues/other_sensors.q.h"
namespace frc971 {
namespace actions {
@@ -124,12 +124,12 @@
bool SelfCatchAction::DoneBallIn() {
- if (!sensors::othersensors.FetchLatest()) {
- sensors::othersensors.FetchNextBlocking();
+ if (!sensors::other_sensors.FetchLatest()) {
+ sensors::other_sensors.FetchNextBlocking();
}
- if (sensors::othersensors->travis_hall_effect_distance > 0.005) {
+ if (sensors::other_sensors->plunger_hall_effect_distance > 0.005) {
LOG(INFO, "Ball in at %.2f.\n",
- sensors::othersensors->travis_hall_effect_distance);
+ sensors::other_sensors->plunger_hall_effect_distance);
return true;
}
return false;
@@ -149,12 +149,12 @@
}
bool SelfCatchAction::DoneFoundSonar() {
- if (!sensors::othersensors.FetchLatest()) {
- sensors::othersensors.FetchNextBlocking();
+ if (!sensors::other_sensors.FetchLatest()) {
+ sensors::other_sensors.FetchNextBlocking();
}
- if (sensors::othersensors->sonar_distance > 0.3 &&
- sensors::othersensors->sonar_distance < kSonarTriggerDist) {
- LOG(INFO, "Hit Sonar at %.2f.\n", sensors::othersensors->sonar_distance);
+ if (sensors::other_sensors->sonar_distance > 0.3 &&
+ sensors::other_sensors->sonar_distance < kSonarTriggerDist) {
+ LOG(INFO, "Hit Sonar at %.2f.\n", sensors::other_sensors->sonar_distance);
return true;
}
return false;
diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index a8897d6..0d93957 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -15,10 +15,10 @@
#include "frc971/control_loops/state_feedback_loop.h"
#include "frc971/control_loops/drivetrain/polydrivetrain_cim_plant.h"
#include "frc971/control_loops/drivetrain/drivetrain.q.h"
-#include "frc971/queues/othersensors.q.h"
+#include "frc971/queues/other_sensors.q.h"
#include "frc971/constants.h"
-using frc971::sensors::othersensors;
+using frc971::sensors::gyro_reading;
namespace frc971 {
namespace control_loops {
@@ -618,9 +618,9 @@
if (!bad_pos) {
const double left_encoder = position->left_encoder;
const double right_encoder = position->right_encoder;
- if (othersensors.FetchLatest()) {
- LOG(DEBUG, "using %.3f", othersensors->gyro_angle);
- dt_closedloop.SetPosition(left_encoder, right_encoder, othersensors->gyro_angle,
+ if (gyro_reading.FetchLatest()) {
+ LOG(DEBUG, "using %.3f", gyro_reading->angle);
+ dt_closedloop.SetPosition(left_encoder, right_encoder, gyro_reading->angle,
control_loop_driving);
} else {
dt_closedloop.SetRawPosition(left_encoder, right_encoder);
diff --git a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
index 275d33f..53bdfcb 100644
--- a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
+++ b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
@@ -12,7 +12,7 @@
#include "frc971/control_loops/drivetrain/drivetrain.h"
#include "frc971/control_loops/state_feedback_loop.h"
#include "frc971/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
-#include "frc971/queues/othersensors.q.h"
+#include "frc971/queues/other_sensors.q.h"
using ::aos::time::Time;
@@ -133,7 +133,7 @@
.reader_pid(254)
.cape_resets(5)
.Send();
- ::frc971::sensors::othersensors.Clear();
+ ::frc971::sensors::gyro_reading.Clear();
SendDSPacket(true);
}
@@ -157,7 +157,7 @@
virtual ~DrivetrainTest() {
::aos::robot_state.Clear();
- ::frc971::sensors::othersensors.Clear();
+ ::frc971::sensors::gyro_reading.Clear();
::bbb::sensor_generation.Clear();
}
};
diff --git a/frc971/input/joystick_reader.cc b/frc971/input/joystick_reader.cc
index b6fd150..3b8bf7d 100644
--- a/frc971/input/joystick_reader.cc
+++ b/frc971/input/joystick_reader.cc
@@ -10,7 +10,7 @@
#include "frc971/control_loops/drivetrain/drivetrain.q.h"
#include "frc971/constants.h"
-#include "frc971/queues/othersensors.q.h"
+#include "frc971/queues/other_sensors.q.h"
#include "frc971/autonomous/auto.q.h"
#include "frc971/control_loops/claw/claw.q.h"
#include "frc971/control_loops/shooter/shooter.q.h"
@@ -20,7 +20,7 @@
#include "frc971/actions/shoot_action.h"
using ::frc971::control_loops::drivetrain;
-using ::frc971::sensors::othersensors;
+using ::frc971::sensors::gyro_reading;
using ::aos::input::driver_station::ButtonLocation;
using ::aos::input::driver_station::JoystickAxis;
@@ -204,12 +204,12 @@
static double filtered_goal_distance = 0.0;
if (data.PosEdge(kDriveControlLoopEnable1) ||
data.PosEdge(kDriveControlLoopEnable2)) {
- if (drivetrain.position.FetchLatest() && othersensors.FetchLatest()) {
+ if (drivetrain.position.FetchLatest() && gyro_reading.FetchLatest()) {
distance = (drivetrain.position->left_encoder +
drivetrain.position->right_encoder) /
2.0 -
throttle * kThrottleGain / 2.0;
- angle = othersensors->gyro_angle;
+ angle = gyro_reading->angle;
filtered_goal_distance = distance;
}
}
diff --git a/frc971/input/sensor_receiver.cc b/frc971/input/sensor_receiver.cc
index f63d13d..d1e9969 100644
--- a/frc971/input/sensor_receiver.cc
+++ b/frc971/input/sensor_receiver.cc
@@ -9,7 +9,7 @@
#include "bbb/sensor_reader.h"
#include "frc971/control_loops/drivetrain/drivetrain.q.h"
-#include "frc971/queues/othersensors.q.h"
+#include "frc971/queues/other_sensors.q.h"
#include "frc971/constants.h"
#include "frc971/queues/to_log.q.h"
#include "frc971/control_loops/shooter/shooter.q.h"
@@ -20,7 +20,8 @@
#endif
using ::frc971::control_loops::drivetrain;
-using ::frc971::sensors::othersensors;
+using ::frc971::sensors::other_sensors;
+using ::frc971::sensors::gyro_reading;
using ::aos::util::WrappingCounter;
namespace frc971 {
@@ -154,13 +155,15 @@
}
if (!bad_gyro) {
- othersensors.MakeWithBuilder()
- .gyro_angle(gyro_translate(data->gyro_angle))
- .sonar_distance(
- sonar_translate(data->main.ultrasonic_pulse_length))
+ gyro_reading.MakeWithBuilder()
+ .angle(gyro_translate(data->gyro_angle))
.Send();
}
+ other_sensors.MakeWithBuilder()
+ .sonar_distance(sonar_translate(data->main.ultrasonic_pulse_length))
+ .Send();
+
drivetrain.position.MakeWithBuilder()
.right_encoder(drivetrain_translate(data->main.right_drive))
.left_encoder(-drivetrain_translate(data->main.left_drive))
diff --git a/frc971/queues/other_sensors.q b/frc971/queues/other_sensors.q
new file mode 100644
index 0000000..7181ce9
--- /dev/null
+++ b/frc971/queues/other_sensors.q
@@ -0,0 +1,12 @@
+package frc971.sensors;
+
+message OtherSensors {
+ double sonar_distance;
+ double plunger_hall_effect_distance;
+};
+queue OtherSensors other_sensors;
+
+message GyroReading {
+ double angle;
+};
+queue GyroReading gyro_reading;
diff --git a/frc971/queues/othersensors.q b/frc971/queues/othersensors.q
deleted file mode 100644
index 8541b94..0000000
--- a/frc971/queues/othersensors.q
+++ /dev/null
@@ -1,9 +0,0 @@
-package frc971.sensors;
-
-message OtherSensors {
- double sonar_distance;
- double gyro_angle;
- double travis_hall_effect_distance;
-};
-
-queue OtherSensors othersensors;
diff --git a/frc971/queues/queues.gyp b/frc971/queues/queues.gyp
index 57d2e60..8434437 100644
--- a/frc971/queues/queues.gyp
+++ b/frc971/queues/queues.gyp
@@ -1,7 +1,7 @@
{
'variables': {
'queue_files': [
- 'othersensors.q',
+ 'other_sensors.q',
'to_log.q',
]
},