commit b2451271e8d2baed2809a97f8692047987de1071
author Brian Silverman <brians> Fri Oct 11 21:42:22 2013 -0700
committer Brian Silverman <brians> Wed Oct 16 10:08:32 2013 -0700
tree 55fcf9f0adec2e7ed47908f7b0496e1e20ca71b7
parent 14fe8559a87cac2fae587c0ffc1be21c89f70830

updating stuff after the last merge

frc971/input/gyro_board_reader.cc

diff --git a/frc971/input/gyro_board_reader.cc b/frc971/input/gyro_board_reader.cc
index 438fc30..f701898 100644
--- a/frc971/input/gyro_board_reader.cc
+++ b/frc971/input/gyro_board_reader.cc
@@ -1,5 +1,6 @@
 #include <libusb-1.0/libusb.h>
 #include <memory>
+#include <string.h>
 
 #include "aos/common/inttypes.h"
 #include "aos/atom_code/init.h"
@@ -172,10 +173,11 @@
   void ProcessData(GyroBoardData *data) {
     if (data->robot_id != 0) {
       LOG(ERROR, "gyro board sent data for robot id %hhd!"
-          " dip switches are %x\n", data->robot_id, data->dip_switches);
+          " dip switches are %x\n", data->robot_id, data->base_status & 0xF);
       return;
     } else {
-      LOG(DEBUG, "processing a packet dip switches %x\n", data->dip_switches);
+      LOG(DEBUG, "processing a packet dip switches %x\n",
+          data->base_status & 0xF);
     }
 
     static ::aos::time::Time last_time = ::aos::time::Time::Now();
@@ -241,8 +243,8 @@
         .bottom_disc_negedge_wait_position(index_translate(
                 data->main.capture_bottom_fall_delay))
         .bottom_disc_negedge_wait_count(bottom_fall_delay_count_)
-        .loader_top(data->loader_top)
-        .loader_bottom(data->loader_bottom)
+        .loader_top(data->main.loader_top)
+        .loader_bottom(data->main.loader_bottom)
         .Send();
   }
 

frc971/input/gyro_sensor_receiver.cc

diff --git a/frc971/input/gyro_sensor_receiver.cc b/frc971/input/gyro_sensor_receiver.cc
index e15f603..023bc5f 100644
--- a/frc971/input/gyro_sensor_receiver.cc
+++ b/frc971/input/gyro_sensor_receiver.cc
@@ -84,10 +84,11 @@
   void UnpackFrom(GyroBoardData *data) {
     if (data->robot_id != 0) {
       LOG(ERROR, "gyro board sent data for robot id %hhd!"
-          " dip switches are %x\n", data->robot_id, data->dip_switches);
+          " dip switches are %x\n", data->robot_id, data->base_status & 0xF);
       return;
     } else {
-      LOG(DEBUG, "processing a packet dip switches %x\n", data->dip_switches);
+      LOG(DEBUG, "processing a packet dip switches %x\n",
+          data->base_status & 0xF);
     }
 
     static ::aos::time::Time last_time = ::aos::time::Time::Now();
@@ -153,8 +154,8 @@
         .bottom_disc_negedge_wait_position(index_translate(
                 data->main.capture_bottom_fall_delay))
         .bottom_disc_negedge_wait_count(bottom_fall_delay_count_)
-        .loader_top(data->loader_top)
-        .loader_bottom(data->loader_bottom)
+        .loader_top(data->main.loader_top)
+        .loader_bottom(data->main.loader_bottom)
         .Send();
   }