Modified gyro_board_reader and gyro_board_data.
Removed code for sensors that are nonexistent on the third robot.
Please note that gyro_board_reader still has to have the gear ratios
in the translate functions updated for this specific robot.
diff --git a/bot3/input/gyro_board_data.h b/bot3/input/gyro_board_data.h
index 10135e3..a3b60e5 100644
--- a/bot3/input/gyro_board_data.h
+++ b/bot3/input/gyro_board_data.h
@@ -1,9 +1,9 @@
-#ifndef FRC971_INPUT_GYRO_BOARD_DATA_H_
-#define FRC971_INPUT_GYRO_BOARD_DATA_H_
+#ifndef BOT3_INPUT_GYRO_BOARD_DATA_H_
+#define BOT3_INPUT_GYRO_BOARD_DATA_H_
#include "aos/common/byteorder.h"
-namespace frc971 {
+namespace bot3 {
// The struct that the gyro board sends out with all of the data in it.
struct GyroBoardData {
@@ -13,14 +13,10 @@
int32_t right_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;
uint8_t top_rise_count;
@@ -31,14 +27,8 @@
uint8_t bottom_fall_delay_count;
uint8_t bottom_fall_count;
- uint8_t wrist_rise_count;
-
- uint8_t shooter_angle_rise_count;
-
union {
struct {
- uint8_t wrist_hall_effect : 1;
- uint8_t angle_adjust_bottom_hall_effect : 1;
uint8_t top_disc : 1;
uint8_t bottom_disc : 1;
};
@@ -70,6 +60,6 @@
}
} __attribute__((__packed__));
-} // namespace frc971
+} // namespace bot3
-#endif // FRC971_INPUT_GYRO_BOARD_DATA_H_
+#endif // BOT3_INPUT_GYRO_BOARD_DATA_H_