commit d36b7d37043f97e0189dc7a0881ae9a0bd1cc7dd
author Brian Silverman <brians> Thu Oct 24 15:56:47 2013 -0700
committer Brian Silverman <brians> Thu Oct 24 15:56:47 2013 -0700
tree 3145ff38ac333663267dc410defd0cb1b0f017bc
parent f4937f69933142a865bcbf682d40ced8dc0e8e46

got the reorganized gyro board code actually working

gyro_board/src/usb/encoder.c

diff --git a/gyro_board/src/usb/encoder.c b/gyro_board/src/usb/encoder.c
index 6c4999c..205f44e 100644
--- a/gyro_board/src/usb/encoder.c
+++ b/gyro_board/src/usb/encoder.c
@@ -475,9 +475,15 @@
 }
 
 void fillSensorPacket(struct DataStruct *packet) {
-  packet->gyro_angle = gyro_output.angle;
-  packet->old_gyro_reading = gyro_output.last_reading_bad;
-  packet->bad_gyro = gyro_output.gyro_bad;
+  if (gyro_output.initialized) {
+    packet->gyro_angle = gyro_output.angle;
+    packet->old_gyro_reading = gyro_output.last_reading_bad;
+    packet->bad_gyro = gyro_output.gyro_bad;
+  } else {
+    packet->gyro_angle = 0;
+    packet->old_gyro_reading = 1;
+    packet->bad_gyro = 0;
+  }
 
   packet->dip_switch0 = dip_switch(0);
   packet->dip_switch1 = dip_switch(1);