Added self catch action. moved gyro to the othersensors queue. add sonar and travis hall effect to that queue. fixed a few bugs in shooter action.
diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index 284f722..bfdd924 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -15,10 +15,10 @@
#include "frc971/control_loops/state_feedback_loop.h"
#include "frc971/control_loops/drivetrain/polydrivetrain_cim_plant.h"
#include "frc971/control_loops/drivetrain/drivetrain.q.h"
-#include "frc971/queues/gyro_angle.q.h"
+#include "frc971/queues/othersensors.q.h"
#include "frc971/constants.h"
-using frc971::sensors::gyro;
+using frc971::sensors::othersensors;
namespace frc971 {
namespace control_loops {
@@ -632,9 +632,9 @@
if (!bad_pos) {
const double left_encoder = position->left_encoder;
const double right_encoder = position->right_encoder;
- if (gyro.FetchLatest()) {
- LOG_STRUCT(DEBUG, "using", *gyro);
- dt_closedloop.SetPosition(left_encoder, right_encoder, gyro->angle,
+ if (othersensors.FetchLatest()) {
+ LOG(DEBUG, "using %.3f", othersensors->gyro_angle);
+ dt_closedloop.SetPosition(left_encoder, right_encoder, othersensors->gyro_angle,
control_loop_driving);
} else {
dt_closedloop.SetRawPosition(left_encoder, right_encoder);