| Brian Silverman | 687f524 | 2013-03-16 13:57:59 -0700 | [diff] [blame] | 1 | #ifndef FRC971_QUEUES_SENSOR_VALUES_H_ |
| 2 | #define FRC971_QUEUES_SENSOR_VALUES_H_ |
| brians | 343bc11 | 2013-02-10 01:53:46 +0000 | [diff] [blame] | 3 | |
| 4 | #include <stdint.h> |
| 5 | |
| 6 | namespace frc971 { |
| 7 | |
| 8 | struct sensor_values { |
| Brian Silverman | 687f524 | 2013-03-16 13:57:59 -0700 | [diff] [blame] | 9 | // Anonymous union to make fixing the byte order on all of the 4-byte long |
| 10 | // values easier. |
| 11 | // TODO(brians) name this better |
| 12 | union { |
| 13 | struct { |
| 14 | int32_t drive_left_encoder, drive_right_encoder; |
| 15 | int32_t shooter_encoder; |
| 16 | int32_t index_encoder, bottom_disc_negedge_wait_position; |
| 17 | int32_t bottom_disc_posedge_count, bottom_disc_negedge_count; |
| 18 | int32_t bottom_disc_negedge_wait_count; |
| 19 | int32_t top_disc_posedge_count, top_disc_negedge_count; |
| 20 | int32_t top_disc_posedge_position, top_disc_negedge_position; |
| 21 | int32_t wrist_position, wrist_edge_position; |
| 22 | int32_t angle_adjust_position; |
| 23 | int32_t angle_adjust_middle_edge_position; |
| 24 | int32_t angle_adjust_bottom_edge_position; |
| 25 | }; |
| 26 | uint32_t encoders[17]; |
| 27 | }; |
| brians | 343bc11 | 2013-02-10 01:53:46 +0000 | [diff] [blame] | 28 | |
| Brian Silverman | 687f524 | 2013-03-16 13:57:59 -0700 | [diff] [blame] | 29 | bool wrist_hall_effect; |
| 30 | bool angle_adjust_middle_hall_effect; |
| 31 | bool angle_adjust_bottom_hall_effect; |
| 32 | |
| 33 | bool top_disc, bottom_disc; |
| brians | 343bc11 | 2013-02-10 01:53:46 +0000 | [diff] [blame] | 34 | }; |
| 35 | |
| Brian Silverman | 687f524 | 2013-03-16 13:57:59 -0700 | [diff] [blame] | 36 | } // namespace frc971 |
| brians | 343bc11 | 2013-02-10 01:53:46 +0000 | [diff] [blame] | 37 | |
| Brian Silverman | 687f524 | 2013-03-16 13:57:59 -0700 | [diff] [blame] | 38 | #endif // FRC971_QUEUES_SENSOR_VALUES_H_ |