commit 8754153d8dbaaabe81357af3f94d7fe49c8cf351
author Brian Silverman <brians> Thu Mar 19 23:35:12 2015 -0700
committer Brian Silverman <brians> Sat Mar 21 23:26:12 2015 -0700
tree fbf566bf56f265a6d54de7df04f83c394af795cc
parent 50fa41cf82214eaca0945eadf72fa9a1b15ef608

add more logging for pneumatics stuff

Change-Id: I92f9ee0da37e75e2f141ec9800945720df9c9ee7

frc971/wpilib/wpilib.gyp

diff --git a/frc971/wpilib/wpilib.gyp b/frc971/wpilib/wpilib.gyp
index 0207742..3422782 100644
--- a/frc971/wpilib/wpilib.gyp
+++ b/frc971/wpilib/wpilib.gyp
@@ -31,9 +31,21 @@
         'interrupt_edge_counting',
         'encoder_and_potentiometer',
         '<(DEPTH)/frc971/control_loops/control_loops.gyp:queues',
+        'logging_queue',
       ],
     },
     {
+      'target_name': 'logging_queue',
+      'type': 'static_library',
+      'sources': [
+        'logging.q',
+      ],
+      'variables': {
+        'header_path': 'frc971/wpilib',
+      },
+      'includes': [ '../../aos/build/queues.gypi' ],
+    },
+    {
       'target_name': 'encoder_and_potentiometer',
       'type': 'static_library',
       'sources': [

frc971/wpilib/wpilib_interface.cc

diff --git a/frc971/wpilib/wpilib_interface.cc b/frc971/wpilib/wpilib_interface.cc
index 7364722..8f41300 100644
--- a/frc971/wpilib/wpilib_interface.cc
+++ b/frc971/wpilib/wpilib_interface.cc
@@ -32,6 +32,7 @@
 #include "frc971/wpilib/dma_edge_counting.h"
 #include "frc971/wpilib/interrupt_edge_counting.h"
 #include "frc971/wpilib/encoder_and_potentiometer.h"
+#include "frc971/wpilib/logging.q.h"
 
 #include "Encoder.h"
 #include "Talon.h"
@@ -422,13 +423,23 @@
           claw_pinchers_->Set(claw_->rollers_closed);
         }
       }
-      if (!pressure_switch_->Get()) {
-        compressor_relay_->Set(Relay::kForward);
-      } else {
-        compressor_relay_->Set(Relay::kOff);
-      }
 
-      pcm_->Flush();
+      {
+        PneumaticsToLog to_log;
+        {
+          const bool compressor_on = !pressure_switch_->Get();
+          to_log.compressor_on = compressor_on;
+          if (compressor_on) {
+            compressor_relay_->Set(Relay::kForward);
+          } else {
+            compressor_relay_->Set(Relay::kOff);
+          }
+        }
+
+        pcm_->Flush();
+        to_log.read_solenoids = pcm_->GetAll();
+        LOG_STRUCT(DEBUG, "pneumatics info", to_log);
+      }
     }
   }