Changes made to make robot run.
Still needs drivetrain encoders sorted out nicely and shifters don't yet work (I haven't tried anything to fix them yet).
diff --git a/bot3/atom_code/scripts/start_list.txt b/bot3/atom_code/scripts/start_list.txt
index 83f541f..5af6a46 100644
--- a/bot3/atom_code/scripts/start_list.txt
+++ b/bot3/atom_code/scripts/start_list.txt
@@ -3,6 +3,5 @@
joystick_reader
drivetrain
CRIOLogReader
-shooter
auto
-gyro_board_reader
+gyro_sensor_receiver
diff --git a/bot3/input/gyro_board_data.h b/bot3/input/gyro_board_data.h
deleted file mode 100644
index a3b60e5..0000000
--- a/bot3/input/gyro_board_data.h
+++ /dev/null
@@ -1,65 +0,0 @@
-#ifndef BOT3_INPUT_GYRO_BOARD_DATA_H_
-#define BOT3_INPUT_GYRO_BOARD_DATA_H_
-
-#include "aos/common/byteorder.h"
-
-namespace bot3 {
-
-// The struct that the gyro board sends out with all of the data in it.
-struct GyroBoardData {
- int64_t gyro_angle;
-
- int32_t left_drive;
- int32_t right_drive;
- int32_t shooter_angle;
- int32_t shooter;
-
- int32_t capture_top_rise;
- int32_t capture_top_fall;
- int32_t capture_bottom_fall_delay;
-
- uint8_t top_rise_count;
-
- uint8_t top_fall_count;
-
- uint8_t bottom_rise_count;
-
- uint8_t bottom_fall_delay_count;
- uint8_t bottom_fall_count;
-
- union {
- struct {
- uint8_t top_disc : 1;
- uint8_t bottom_disc : 1;
- };
- uint32_t digitals;
- };
-
- void NetworkToHost() {
- // Apparently it sends the information out in little endian.
-#if 0
- using ::aos::ntoh;
-
- gyro_angle = ntoh(gyro_angle);
-
- right_drive = ntoh(right_drive);
- left_drive = ntoh(left_drive);
- shooter_angle = ntoh(shooter_angle);
- shooter = ntoh(shooter);
- indexer = ntoh(indexer);
- wrist = ntoh(wrist);
-
- capture_top_rise = ntoh(capture_top_rise);
- capture_top_fall = ntoh(capture_top_fall);
- capture_bottom_fall_delay = ntoh(capture_bottom_fall_delay);
- capture_wrist_rise = ntoh(capture_wrist_rise);
- capture_shooter_angle_rise = ntoh(capture_shooter_angle_rise);
-
- digitals = ntoh(digitals);
-#endif
- }
-} __attribute__((__packed__));
-
-} // namespace bot3
-
-#endif // BOT3_INPUT_GYRO_BOARD_DATA_H_
diff --git a/bot3/input/gyro_sensor_receiver.cc b/bot3/input/gyro_sensor_receiver.cc
index 625df57..d647d39 100644
--- a/bot3/input/gyro_sensor_receiver.cc
+++ b/bot3/input/gyro_sensor_receiver.cc
@@ -51,9 +51,11 @@
.Send();
drivetrain.position.MakeWithBuilder()
- .right_encoder(drivetrain_translate(data()->main.right_drive))
- .left_encoder(-drivetrain_translate(data()->main.left_drive))
+ .right_encoder(drivetrain_translate(data()->main.wrist))
+ .left_encoder(drivetrain_translate(data()->main.shooter))
.Send();
+ LOG(DEBUG, "right: %d left: %d angle: %lld \n",
+ data()->main.wrist, data()->main.shooter, data()->gyro_angle);
}
WrappingCounter top_rise_;