got the new drive code working
diff --git a/frc971/input/gyro_sensor_receiver.cc b/frc971/input/gyro_sensor_receiver.cc
index c554173..2fa6088 100644
--- a/frc971/input/gyro_sensor_receiver.cc
+++ b/frc971/input/gyro_sensor_receiver.cc
@@ -110,6 +110,11 @@
drivetrain.position.MakeWithBuilder()
.right_encoder(drivetrain_translate(data()->main.right_drive))
.left_encoder(-drivetrain_translate(data()->main.left_drive))
+ .left_shifter_position(hall_translate(constants::GetValues().left_drive,
+ data()->main.left_drive_hall))
+ .right_shifter_position(hall_translate(
+ constants::GetValues().right_drive, data()->main.right_drive_hall))
+ .battery_voltage(battery_translate(data()->main.battery_voltage))
.Send();
wrist.position.MakeWithBuilder()
@@ -153,21 +158,6 @@
.loader_top(data()->main.loader_top)
.loader_bottom(data()->main.loader_bottom)
.Send();
-
- LOG(DEBUG, "battery %f %f %" PRIu16 "\n",
- battery_translate(data()->main.battery_voltage),
- adc_translate(data()->main.battery_voltage),
- data()->main.battery_voltage);
- LOG(DEBUG, "halls l=%f r=%f %" PRIx16 " %" PRIx16 "\n",
- adc_translate(data()->main.left_drive_hall),
- adc_translate(data()->main.right_drive_hall),
- data()->main.left_drive_hall,
- data()->main.right_drive_hall);
- LOG(DEBUG, "real l=%f r=%f\n",
- hall_translate(constants::GetValues().left_drive,
- data()->main.left_drive_hall),
- hall_translate(constants::GetValues().right_drive,
- data()->main.right_drive_hall));
}
bool bad_gyro_;