commit 809c25616e93c0bd808558f84cbb7d4a6d8560a9
author Austin Schuh <austin@peloton-tech.com> Sun Mar 02 11:50:19 2014 -0800
committer Austin Schuh <austin@peloton-tech.com> Sun Mar 02 11:50:22 2014 -0800
tree 4742fc537005fc1ed9d547b9b2b594f1f7305876
parent 30c8db8731002aeced99a33a35a4895960660eb6

Fixed drivetrain hall effects to use the dual hall effect setup.

bbb_cape/src/cape/data_struct.h

diff --git a/bbb_cape/src/cape/data_struct.h b/bbb_cape/src/cape/data_struct.h
index debef38..4aa2a10 100644
--- a/bbb_cape/src/cape/data_struct.h
+++ b/bbb_cape/src/cape/data_struct.h
@@ -86,8 +86,10 @@
       int32_t shooter_position, pusher_distal_posedge_position,
           pusher_proximal_posedge_position;
 
-      uint16_t left_drive_hall;
-      uint16_t right_drive_hall;
+      uint16_t low_left_drive_hall;
+      uint16_t high_left_drive_hall;
+      uint16_t low_right_drive_hall;
+      uint16_t high_right_drive_hall;
 
       uint16_t battery_voltage;
 

bbb_cape/src/cape/robot_comp.c

diff --git a/bbb_cape/src/cape/robot_comp.c b/bbb_cape/src/cape/robot_comp.c
index 57e3d66..ad4f45b 100644
--- a/bbb_cape/src/cape/robot_comp.c
+++ b/bbb_cape/src/cape/robot_comp.c
@@ -118,8 +118,10 @@
 void robot_fill_packet(struct DataStruct *packet) {
   packet->main.left_drive = encoder_read(6);
   packet->main.right_drive = encoder_read(5);
-  packet->main.left_drive_hall = analog_get(7);
-  packet->main.right_drive_hall = analog_get(0);
+  packet->main.low_left_drive_hall = analog_get(7);
+  packet->main.low_right_drive_hall = analog_get(0);
+  packet->main.high_left_drive_hall = analog_get(6);
+  packet->main.high_right_drive_hall = analog_get(1);
 
   packet->main.ultrasonic_pulse_length = ultrasonic_pulse_length;