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/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();
}