split analog.c out intelligently and added an id to the sensor packet
diff --git a/gyro_board/src/usb/data_struct.h b/gyro_board/src/usb/data_struct.h
new file mode 100644
index 0000000..d0a740b
--- /dev/null
+++ b/gyro_board/src/usb/data_struct.h
@@ -0,0 +1,83 @@
+// This isn't really a header file. It's designed to be #included directly into
+// other code (possibly in a namespace or whatever), so it doesn't have include
+// guards.
+// In the gyro board code, fill_packet.h #includes this file.
+// In the fitpc code, frc971/input/gyro_board_data.h #includes this file.
+
+#pragma pack(push, 1)
+struct DATA_STRUCT_NAME {
+ int64_t gyro_angle;
+
+ union {
+ struct {
+ // Which robot (+version) the gyro board is sending out data for.
+ // We should keep this in the same place for all gyro board software
+ // versions so that the fitpc can detect when it's reading from a gyro
+ // board set up for a different robot than it is.
+ // 0 = 2013 competition/practice robot
+ // 1 = 2013 3rd robot
+ uint8_t robot_id;
+ // This information should also be kept in the same place from year to
+ // year so that the fitpc code can record the dip switch values when it
+ // detects the wrong robot id to make debugging easier.
+ union {
+ struct {
+ uint8_t dip_switch0 : 1;
+ uint8_t dip_switch1 : 1;
+ uint8_t dip_switch2 : 1;
+ uint8_t dip_switch3 : 1;
+ };
+ uint8_t dip_switches;
+ };
+ };
+ uint16_t header;
+ };
+
+ union {
+ struct {
+ union {
+ struct {
+ uint8_t wrist_hall_effect : 1;
+ uint8_t angle_adjust_bottom_hall_effect : 1;
+ uint8_t top_disc : 1;
+ uint8_t bottom_disc : 1;
+ };
+ uint16_t booleans;
+ };
+ int32_t left_drive;
+ int32_t right_drive;
+ int32_t shooter_angle;
+ int32_t shooter;
+ int32_t indexer;
+ int32_t wrist;
+
+ int32_t capture_top_rise;
+ int32_t capture_top_fall;
+ int32_t capture_bottom_fall_delay;
+ int32_t capture_wrist_rise;
+ int32_t capture_shooter_angle_rise;
+
+ int8_t top_rise_count;
+
+ int8_t top_fall_count;
+
+ int8_t bottom_rise_count;
+
+ int8_t bottom_fall_delay_count;
+ int8_t bottom_fall_count;
+
+ int8_t wrist_rise_count;
+
+ int8_t shooter_angle_rise_count;
+ } main;
+
+ struct {
+ union {
+ struct {
+ };
+ uint16_t booleans;
+ };
+ } bot3;
+ };
+};
+#pragma pack(pop)