Switched joysticks over to ready and then shoot, wired up catch action, wrote auto.
diff --git a/frc971/input/sensor_receiver.cc b/frc971/input/sensor_receiver.cc
index abd31dc..7d12b48 100644
--- a/frc971/input/sensor_receiver.cc
+++ b/frc971/input/sensor_receiver.cc
@@ -141,7 +141,10 @@
} else if (data->bad_gyro) {
LOG(ERROR, "bad gyro\n");
bad_gyro = true;
- othersensors.MakeWithBuilder().gyro_angle(0).Send();
+ othersensors.MakeWithBuilder()
+ .gyro_angle(0)
+ .sonar_distance(data->main.ultrasonic_pulse_length)
+ .Send();
} else if (data->old_gyro_reading) {
LOG(WARNING, "old/bad gyro reading\n");
bad_gyro = true;
@@ -152,6 +155,7 @@
if (!bad_gyro) {
othersensors.MakeWithBuilder()
.gyro_angle(gyro_translate(data->gyro_angle))
+ .sonar_distance(data->main.ultrasonic_pulse_length)
.Send();
}