| Brian Silverman | 3204dd8 | 2013-03-12 18:42:01 -0700 | [diff] [blame^] | 1 | #include "frc971/input/sensor_packer.h" |
| 2 | |
| 3 | #include <arpa/inet.h> |
| 4 | |
| 5 | #include "aos/common/inttypes.h" |
| 6 | |
| 7 | using ::aos::MutexLocker; |
| 8 | |
| 9 | namespace frc971 { |
| 10 | |
| 11 | SensorPacker::SensorPacker() : lencoder(1, 2), rencoder(3, 4) { |
| 12 | lencoder.Start(); |
| 13 | rencoder.Start(); |
| 14 | |
| 15 | printf("frc971::SensorPacker started\n"); |
| 16 | } |
| 17 | |
| 18 | void SensorPacker::PackInto(sensor_values *values) { |
| 19 | values->lencoder = htonl(-lencoder.GetRaw()); |
| 20 | values->rencoder = -htonl(-rencoder.GetRaw()); |
| 21 | } |
| 22 | |
| 23 | } // namespace frc971 |