Analog Input about kobuki

[stonier]

http://redmine.yujin.com/issues/1671

[stonier]

 1         data.gp_adc[0] = mpuAdc()( gpADC_0 );
 2         data.gp_adc[1] = mpuAdc()( gpADC_1 );
 3         data.gp_adc[2] = mpuAdc()( gpADC_2 );
 4         data.gp_adc[3] = mpuAdc()( gpADC_3 );
 5         data.gp_adc[4] = mpuAdc()( gpADC_4 );
 6         data.gp_adc[5] = 0; //mpuAdc()( gpADC_5 );
 7         data.gp_adc[6] = 0; //mpuAdc()( gpADC_6 );
 8 
 9         data.gp_input = 0;
10         data.gp_input |= read_gpi(gpioDI_0) ? 1 : 0;
11         data.gp_input |= read_gpi(gpioDI_1) ? 2 : 0;
12         data.gp_input |= read_gpi(gpioDI_2) ? 4 : 0;
13         data.gp_input |= read_gpi(gpioDI_3) ? 8 : 0;
14         data.gp_input |= read_gpi(gpioDI_4) ? 16 : 0;  
15 
16         data.gp_input |= 0; // read_gpi(gpioRobotOnOff) ? 32 : 0;            // robot on-off
17         data.gp_input |= read_gpi(gpioDI_5) ? 64 : 0;     

command_id
16 bits for gp inputs
7 ADC value (unsigned short int)

[stonier]

It's publishing fine on core sensors. I just trimmed back the vector a little to remove the two redundant zeros at the end. Also why is there a fifth analog value???