commit 74acd62b075b1a8da5e4d7254da06580098e8172
author Brian Silverman <brians> Sat Oct 26 14:47:14 2013 -0700
committer Brian Silverman <brians> Sat Oct 26 15:56:49 2013 -0700
tree 36b56484065fb2f45b7fb0a84c57d23e8cf1eae3
parent bd3d5d4cc64396b557d5cf42888ad66dafcb75b2

added analog sensors and cleaned up the sensor data structure a bit

frc971/input/gyro_sensor_receiver.cc

diff --git a/frc971/input/gyro_sensor_receiver.cc b/frc971/input/gyro_sensor_receiver.cc
index 42b50c8..5f0ce57 100644
--- a/frc971/input/gyro_sensor_receiver.cc
+++ b/frc971/input/gyro_sensor_receiver.cc
@@ -53,11 +53,21 @@
       (1.0) /*gears*/ * (2 * M_PI);
 }
 
+// Translates values from the ADC into voltage.
+inline double adc_translate(uint16_t in) {
+  static const double kVRefN = 0;
+  static const double kVRefP = 3.3;
+  static const int kMaximumValue = 0x3FF;
+  return kVRefN +
+      (static_cast<double>(in) / static_cast<double>(kMaximumValue) *
+       (kVRefP - kVRefN));
+}
+
 }  // namespace
 
 class GyroSensorReceiver : public USBReceiver {
   virtual void ProcessData() override {
-    if (data()->robot_id != 0) {
+    if (data()->robot_id != 2) {
       LOG(ERROR, "gyro board sent data for robot id %hhd!"
           " dip switches are %x\n",
           data()->robot_id, data()->base_status & 0xF);