commit 81ba2d5e92149260c8c100672e211cec2d3c972e
author Ben Fredrickson <ben.fred12345@gmail.com> Sun Mar 02 08:21:46 2014 +0000
committer Ben Fredrickson <ben.fred12345@gmail.com> Sun Mar 02 08:21:46 2014 +0000
tree 23ca5938a5e1fc4437182910586f65ceecbb376e
parent 07e70aef5d1da5992d22db48da960b5b8bad6f67

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.

frc971/input/joystick_reader.cc

diff --git a/frc971/input/joystick_reader.cc b/frc971/input/joystick_reader.cc
index 02343f2..9e57e6f 100644
--- a/frc971/input/joystick_reader.cc
+++ b/frc971/input/joystick_reader.cc
@@ -9,14 +9,14 @@
 #include "aos/common/logging/logging.h"
 
 #include "frc971/control_loops/drivetrain/drivetrain.q.h"
-#include "frc971/queues/gyro_angle.q.h"
+#include "frc971/queues/othersensors.q.h"
 #include "frc971/autonomous/auto.q.h"
 #include "frc971/control_loops/claw/claw.q.h"
 #include "frc971/control_loops/shooter/shooter.q.h"
 #include "frc971/actions/shoot_action.q.h"
 
 using ::frc971::control_loops::drivetrain;
-using ::frc971::sensors::gyro;
+using ::frc971::sensors::othersensors;
 
 using ::aos::input::driver_station::ButtonLocation;
 using ::aos::input::driver_station::JoystickAxis;
@@ -224,12 +224,12 @@
       static double filtered_goal_distance = 0.0;
       if (data.PosEdge(kDriveControlLoopEnable1) ||
           data.PosEdge(kDriveControlLoopEnable2)) {
-        if (drivetrain.position.FetchLatest() && gyro.FetchLatest()) {
+        if (drivetrain.position.FetchLatest() && othersensors.FetchLatest()) {
           distance = (drivetrain.position->left_encoder +
                       drivetrain.position->right_encoder) /
                          2.0 -
                      throttle * kThrottleGain / 2.0;
-          angle = gyro->angle;
+          angle = othersensors->gyro_angle;
           filtered_goal_distance = distance;
         }
       }

frc971/input/sensor_receiver.cc

diff --git a/frc971/input/sensor_receiver.cc b/frc971/input/sensor_receiver.cc
index f375f20..47927c4 100644
--- a/frc971/input/sensor_receiver.cc
+++ b/frc971/input/sensor_receiver.cc
@@ -9,7 +9,7 @@
 #include "bbb/sensor_reader.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"
 #include "frc971/queues/to_log.q.h"
 #include "frc971/control_loops/shooter/shooter.q.h"
@@ -20,7 +20,7 @@
 #endif
 
 using ::frc971::control_loops::drivetrain;
-using ::frc971::sensors::gyro;
+using ::frc971::sensors::othersensors;
 using ::aos::util::WrappingCounter;
 
 namespace frc971 {
@@ -129,7 +129,7 @@
   } else if (data->bad_gyro) {
     LOG(ERROR, "bad gyro\n");
     bad_gyro = true;
-    gyro.MakeWithBuilder().angle(0).Send();
+    othersensors.MakeWithBuilder().gyro_angle(0).Send();
   } else if (data->old_gyro_reading) {
     LOG(WARNING, "old/bad gyro reading\n");
     bad_gyro = true;
@@ -138,8 +138,8 @@
   }
 
   if (!bad_gyro) {
-    gyro.MakeWithBuilder()
-        .angle(gyro_translate(data->gyro_angle))
+    othersensors.MakeWithBuilder()
+        .gyro_angle(gyro_translate(data->gyro_angle))
         .Send();
   }