From ed08ab2989e6db434e154d2c0a4d549ad461f77a Mon Sep 17 00:00:00 2001
From: Thomas Clark <tjclark@wpi.edu>
Date: Tue, 5 Aug 2014 11:07:39 -0400
Subject: [PATCH] Fixed voltage range checking and error message

Change-Id: I7ba05eb27f3d82bfd37f6b407fe39e0ab9cf5bf0
---
 hal/include/HAL/Errors.hpp | 2 +-
 hal/lib/Athena/Analog.cpp  | 8 ++++----
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/hal/include/HAL/Errors.hpp b/hal/include/HAL/Errors.hpp
index 46b5ee3044..9428b00801 100644
--- a/hal/include/HAL/Errors.hpp
+++ b/hal/include/HAL/Errors.hpp
@@ -3,7 +3,7 @@
 #define SAMPLE_RATE_TOO_HIGH 1
 #define SAMPLE_RATE_TOO_HIGH_MESSAGE "Analog module sample rate is too high"
 #define VOLTAGE_OUT_OF_RANGE 2
-#define VOLTAGE_OUT_OF_RANGE_MESSAGE "Voltage to convert to raw value is out of range [-10; 10]"
+#define VOLTAGE_OUT_OF_RANGE_MESSAGE "Voltage to convert to raw value is out of range [0; 5]"
 #define LOOP_TIMING_ERROR 4
 #define LOOP_TIMING_ERROR_MESSAGE "Digital module loop timing is not the expected value"
 #define SPI_WRITE_NO_MOSI 12
diff --git a/hal/lib/Athena/Analog.cpp b/hal/lib/Athena/Analog.cpp
index 02a39b9706..9461ebbd6f 100644
--- a/hal/lib/Athena/Analog.cpp
+++ b/hal/lib/Athena/Analog.cpp
@@ -353,12 +353,12 @@ float getAnalogAverageVoltage(void* analog_port_pointer, int32_t *status) {
  * @return The raw value for the channel.
  */
 int32_t getAnalogVoltsToValue(void* analog_port_pointer, double voltage, int32_t *status) {
-  if (voltage > 10.0) {
-    voltage = 10.0;
+  if (voltage > 5.0) {
+    voltage = 5.0;
     *status = VOLTAGE_OUT_OF_RANGE;
   }
-  if (voltage < -10.0) {
-    voltage = -10.0;
+  if (voltage < 0.0) {
+    voltage = 0.0;
     *status = VOLTAGE_OUT_OF_RANGE;
   }
   uint32_t LSBWeight = getAnalogLSBWeight(analog_port_pointer, status);