| #ifndef __ANALOG_H__ |
| #define __ANALOG_H__ |
| |
| extern int64_t gyro_angle; |
| struct DataStruct{ |
| int64_t gyro_angle; |
| |
| int32_t right_drive; |
| int32_t left_drive; |
| int32_t shooter_angle; |
| int32_t shooter; |
| int32_t indexer; |
| int32_t wrist; |
| |
| int32_t capture_top_rise; |
| int32_t capture_top_fall; |
| int32_t capture_bottom_fall_delay; |
| int32_t capture_wrist_rise; |
| int32_t capture_shooter_angle_rise; |
| |
| int8_t top_rise_count; |
| |
| int8_t top_fall_count; |
| |
| int8_t bottom_rise_count; |
| |
| int8_t bottom_fall_delay_count; |
| int8_t bottom_fall_count; |
| |
| int8_t wrist_rise_count; |
| |
| int8_t shooter_angle_rise_count; |
| }__attribute__((__packed__)); |
| void fillSensorPacket(struct DataStruct *packet); |
| |
| |
| void analog_init (void); |
| int analog(int chan); |
| int digital(int chan); |
| int encoder_bits(int chan); |
| void encoder_init(void); |
| int32_t encoder_val(int chan); |
| int dip(int chan); |
| #endif // __ANALOG_H__ |