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/input/joystick_reader.cc

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;
         }
       }

frc971/input/sensor_receiver.cc

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))