commit e58ef63f298d2a22f9eaed8cd6292ce26f0ccf28
author Brian Silverman <brians> Sat Mar 30 00:06:31 2013 -0700
committer Brian Silverman <brians> Sat Mar 30 16:35:13 2013 -0700
tree 485b7ad9dfea9d6e409b63ac8467921a51a4d4c9
parent 32d691422fd7e039e2d9d247ac8bea6f27ae1b2f

added gyro support

frc971/input/gyro_board_reader.cc

diff --git a/frc971/input/gyro_board_reader.cc b/frc971/input/gyro_board_reader.cc
index 47b61e8..dab6130 100644
--- a/frc971/input/gyro_board_reader.cc
+++ b/frc971/input/gyro_board_reader.cc
@@ -12,6 +12,7 @@
 #include "frc971/control_loops/shooter/shooter_motor.q.h"
 #include "frc971/input/gyro_board_data.h"
 #include "gyro_board/src/libusb-driver/libusb_wrap.h"
+#include "frc971/queues/GyroAngle.q.h"
 
 #ifndef M_PI
 #define M_PI 3.14159265358979323846
@@ -22,6 +23,7 @@
 using ::frc971::control_loops::angle_adjust;
 using ::frc971::control_loops::shooter;
 using ::frc971::control_loops::index_loop;
+using ::frc971::sensors::gyro;
 
 namespace frc971 {
 namespace {
@@ -136,6 +138,10 @@
   void ProcessData(GyroBoardData *data) {
     data->NetworkToHost();
 
+    gyro.MakeWithBuilder()
+        .angle(data->gyro_angle / 16.0 / 1000.0 / 180.0 * M_PI)
+        .Send();
+
     UpdateWrappingCounter(data->top_rise_count,
         &last_top_rise_count_, &top_rise_count_);
     UpdateWrappingCounter(data->top_fall_count,