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/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_;