Added code to log shifter values.
Change-Id: I1724867769628189c0ad2a15386b4b124b06895a
diff --git a/y2014/control_loops/drivetrain/drivetrain.q b/y2014/control_loops/drivetrain/drivetrain.q
index 872efec..585b8ed 100644
--- a/y2014/control_loops/drivetrain/drivetrain.q
+++ b/y2014/control_loops/drivetrain/drivetrain.q
@@ -39,6 +39,10 @@
double right_encoder;
double left_shifter_position;
double right_shifter_position;
+ double low_left_hall;
+ double high_left_hall;
+ double low_right_hall;
+ double high_right_hall;
};
message Output {
diff --git a/y2014/wpilib/wpilib_interface.cc b/y2014/wpilib/wpilib_interface.cc
index c8792d0..20bef26 100644
--- a/y2014/wpilib/wpilib_interface.cc
+++ b/y2014/wpilib/wpilib_interface.cc
@@ -289,12 +289,19 @@
drivetrain_translate(drivetrain_right_encoder_->GetRaw());
drivetrain_message->left_encoder =
-drivetrain_translate(drivetrain_left_encoder_->GetRaw());
+
+ drivetrain_message->low_left_hall = low_left_drive_hall_->GetVoltage();
+ drivetrain_message->high_left_hall = high_left_drive_hall_->GetVoltage();
drivetrain_message->left_shifter_position =
- hall_translate(values.left_drive, low_left_drive_hall_->GetVoltage(),
- high_left_drive_hall_->GetVoltage());
- drivetrain_message->right_shifter_position = hall_translate(
- values.right_drive, low_right_drive_hall_->GetVoltage(),
- high_right_drive_hall_->GetVoltage());
+ hall_translate(values.left_drive, drivetrain_message->low_left_hall,
+ drivetrain_message->high_left_hall);
+
+ drivetrain_message->low_right_hall = low_right_drive_hall_->GetVoltage();
+ drivetrain_message->high_right_hall =
+ high_right_drive_hall_->GetVoltage();
+ drivetrain_message->right_shifter_position =
+ hall_translate(values.right_drive, drivetrain_message->low_right_hall,
+ drivetrain_message->high_right_hall);
drivetrain_message.Send();
}