commit 96944818cb270b78b48bbdabfc82343bc329ff54
author Brian Silverman <brians> Sat Dec 28 22:33:08 2013 -0800
committer Brian Silverman <brians> Sat Dec 28 22:33:08 2013 -0800
tree a3c714be8401df574daf483b6423dc29e5609f6a
parent 391beca6af3bd3187c52b0e906af3d604a30a024

renamed the test "robot" struct

bbb_cape/src/bbb/uart_reader_main.cc

diff --git a/bbb_cape/src/bbb/uart_reader_main.cc b/bbb_cape/src/bbb/uart_reader_main.cc
index bff69af..5bda02c 100644
--- a/bbb_cape/src/bbb/uart_reader_main.cc
+++ b/bbb_cape/src/bbb/uart_reader_main.cc
@@ -58,8 +58,13 @@
     const DataStruct *packet = receiver.get_packet<DataStruct>();
     LOG(DEBUG, "got one!\n");
     LOG(DEBUG, "timestamp %" PRIu64 "\n", packet->timestamp);
+    LOG(DEBUG, "gyro old=%d uninit=%d z=%d bad=%d %" PRId64 " \n",
+        packet->old_gyro_reading, packet->uninitialized_gyro,
+        packet->zeroing_gyro, packet->bad_gyro, packet->gyro_angle);
     for (int i = 0; i < 8; ++i) {
-      LOG(DEBUG, "enc[%d]=%" PRId32 "\n", i, packet->main.encoders[i]);
+      LOG(DEBUG, "enc[%d]=%" PRId32 "\n", i, packet->test.encoders[i]);
+      LOG(DEBUG, "adc[%d]=%f (%" PRIx16 ")\n", i,
+          3.3 * packet->test.analogs[i] / 0x3FF, packet->test.analogs[i]);
     }
   }
 

bbb_cape/src/cape/data_struct.h

diff --git a/bbb_cape/src/cape/data_struct.h b/bbb_cape/src/cape/data_struct.h
index 7cce3be..68491eb 100644
--- a/bbb_cape/src/cape/data_struct.h
+++ b/bbb_cape/src/cape/data_struct.h
@@ -50,7 +50,7 @@
       uint16_t analogs[8];
 
       uint32_t digitals;
-    } main;
+    } test;
     
     struct {
     } bot3;

bbb_cape/src/cape/robot_test.c

diff --git a/bbb_cape/src/cape/robot_test.c b/bbb_cape/src/cape/robot_test.c
index 02c1580..92078c9 100644
--- a/bbb_cape/src/cape/robot_test.c
+++ b/bbb_cape/src/cape/robot_test.c
@@ -5,17 +5,17 @@
 #include "cape/digital.h"
 
 void robot_fill_packet(struct DataStruct *packet) {
-  packet->main.encoders[0] = encoder_read(0);
-  packet->main.encoders[1] = encoder_read(1);
-  packet->main.encoders[2] = encoder_read(2);
-  packet->main.encoders[3] = encoder_read(3);
-  packet->main.encoders[4] = encoder_read(4);
-  packet->main.encoders[5] = encoder_read(5);
-  packet->main.encoders[6] = encoder_read(6);
-  packet->main.encoders[7] = encoder_read(7);
+  packet->test.encoders[0] = encoder_read(0);
+  packet->test.encoders[1] = encoder_read(1);
+  packet->test.encoders[2] = encoder_read(2);
+  packet->test.encoders[3] = encoder_read(3);
+  packet->test.encoders[4] = encoder_read(4);
+  packet->test.encoders[5] = encoder_read(5);
+  packet->test.encoders[6] = encoder_read(6);
+  packet->test.encoders[7] = encoder_read(7);
 
   for (int i = 0; i < 8; ++i) {
-    packet->main.analogs[i] = analog_get(i);
+    packet->test.analogs[i] = analog_get(i);
   }
 
   // TODO(brians): digitals