commit 6bf0d3c692fce99f09773070bca6d2f3a1ed11f2
author Brian Silverman <brians> Sat Mar 08 12:52:54 2014 -0800
committer Brian Silverman <brians> Sat Mar 08 12:52:54 2014 -0800
tree 87b3113031d13e9ef7965d40bdc1291e046a5bb8
parent 101b9642e0a6f647697a987195695a069586c1ac

split out the gyro reading and the rest of other_sensors

frc971/control_loops/drivetrain/drivetrain.cc

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);

frc971/control_loops/drivetrain/drivetrain_lib_test.cc

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();
   }
 };