commit fa577e40882c74afe891e0bac9fbba8c6adfe13f
author Brian Silverman <brians> Sat Apr 19 12:03:00 2014 -0700
committer Brian Silverman <brians> Sat Apr 19 12:03:00 2014 -0700
tree 84fa23b4ed3854edd2ace22c04c0badaa5360e14
parent ab5ba473134effce4dccb50a3e8ebd4b2850e416

fixing issues with the redone auto

frc971/autonomous/auto.cc

diff --git a/frc971/autonomous/auto.cc b/frc971/autonomous/auto.cc
index e6ecc2d..32f6979 100644
--- a/frc971/autonomous/auto.cc
+++ b/frc971/autonomous/auto.cc
@@ -243,7 +243,7 @@
 
   void Update() {
     hot_goal.FetchLatest();
-    LOG_STRUCT(INFO, "new counts", *hot_goal);
+    if (hot_goal.get()) LOG_STRUCT(INFO, "new counts", *hot_goal);
   }
 
   bool is_left() const {
@@ -366,7 +366,7 @@
   if (auto_version == AutoVersion::kDoubleHot) {
     if (ShouldExitAuto()) return;
     auto drivetrain_action =
-        SetDriveGoal(2, 2, first_shot_left ? kTurnAngle : -kTurnAngle);
+        SetDriveGoal(0, 2, first_shot_left ? kTurnAngle : -kTurnAngle);
     WaitUntilDoneOrCanceled(drivetrain_action.get());
     if (ShouldExitAuto()) return;
   }
@@ -380,7 +380,7 @@
   if (auto_version == AutoVersion::kDoubleHot) {
     if (ShouldExitAuto()) return;
     auto drivetrain_action =
-        SetDriveGoal(2, 2, first_shot_left ? -kTurnAngle : kTurnAngle);
+        SetDriveGoal(0, 2, first_shot_left ? -kTurnAngle : kTurnAngle);
     WaitUntilDoneOrCanceled(drivetrain_action.get());
     if (ShouldExitAuto()) return;
   }
@@ -434,7 +434,7 @@
   if (auto_version == AutoVersion::kDoubleHot) {
     if (ShouldExitAuto()) return;
     auto drivetrain_action =
-        SetDriveGoal(2, 2, second_shot_left ? kTurnAngle : -kTurnAngle);
+        SetDriveGoal(0, 2, second_shot_left ? kTurnAngle : -kTurnAngle);
     WaitUntilDoneOrCanceled(drivetrain_action.get());
     if (ShouldExitAuto()) return;
   }

frc971/input/hot_goal_reader.cc

diff --git a/frc971/input/hot_goal_reader.cc b/frc971/input/hot_goal_reader.cc
index 30789cf..f42f370 100644
--- a/frc971/input/hot_goal_reader.cc
+++ b/frc971/input/hot_goal_reader.cc
@@ -64,7 +64,8 @@
       FD_SET(connection, &fds);
       struct timeval timeout_timeval =
           ::aos::time::Time::InSeconds(1).ToTimeval();
-      switch (select(connection + 1, &fds, nullptr, nullptr, &timeout_timeval)) {
+      switch (
+          select(connection + 1, &fds, nullptr, nullptr, &timeout_timeval)) {
         case 1: {
           uint8_t data;
           ssize_t read_bytes = read(connection, &data, sizeof(data));

frc971/input/sensor_receiver.cc

diff --git a/frc971/input/sensor_receiver.cc b/frc971/input/sensor_receiver.cc
index a171621..8e82be3 100644
--- a/frc971/input/sensor_receiver.cc
+++ b/frc971/input/sensor_receiver.cc
@@ -150,6 +150,7 @@
   ::frc971::logging_structs::CapeReading reading_to_log(
       cape_timestamp, static_cast<uint16_t>(sizeof(*data)),
       sonar_translate(data->main.ultrasonic_pulse_length),
+      adc_translate(data->main.auto_mode_selector),
       data->main.low_left_drive_hall, data->main.high_left_drive_hall,
       data->main.low_right_drive_hall, data->main.high_right_drive_hall);
   LOG_STRUCT(DEBUG, "cape reading", reading_to_log);

frc971/queues/to_log.q

diff --git a/frc971/queues/to_log.q b/frc971/queues/to_log.q
index 341d921..218f37e 100644
--- a/frc971/queues/to_log.q
+++ b/frc971/queues/to_log.q
@@ -4,6 +4,7 @@
   Time time;
   uint16_t struct_size;
   double sonar;
+  double auto_choice;
 
   uint16_t left_low;
   uint16_t left_high;