started on 2014 cape code
diff --git a/bbb_cape/src/cape/data_struct.h b/bbb_cape/src/cape/data_struct.h
index 9e5ee6c..b381202 100644
--- a/bbb_cape/src/cape/data_struct.h
+++ b/bbb_cape/src/cape/data_struct.h
@@ -62,41 +62,15 @@
struct {
int32_t left_drive;
int32_t right_drive;
- int32_t shooter_angle;
- int32_t shooter;
- int32_t indexer;
- int32_t wrist;
-
- int32_t capture_top_rise;
- int32_t capture_top_fall;
- int32_t capture_bottom_fall_delay;
- int32_t capture_wrist_rise;
- int32_t capture_shooter_angle_rise;
-
- uint16_t battery_voltage;
uint16_t left_drive_hall;
uint16_t right_drive_hall;
- int8_t top_rise_count;
+ uint16_t battery_voltage;
- int8_t top_fall_count;
-
- int8_t bottom_rise_count;
-
- int8_t bottom_fall_delay_count;
- int8_t bottom_fall_count;
-
- int8_t wrist_rise_count;
-
- int8_t shooter_angle_rise_count;
+ // The length of the pulse from the ultrasonic sensor in 100kHZ ticks.
+ uint32_t ultrasonic_pulse_length;
struct {
- uint8_t wrist_hall_effect : 1;
- uint8_t angle_adjust_bottom_hall_effect : 1;
- uint8_t top_disc : 1;
- uint8_t bottom_disc : 1;
- uint8_t loader_top : 1;
- uint8_t loader_bottom : 1;
};
} main;
};