Rename azimuth to turret
Change-Id: Ib688a8bed56e049a7905882c54de77d4442bd4bf
diff --git a/y2017/control_loops/superstructure/superstructure.q b/y2017/control_loops/superstructure/superstructure.q
index a3b2715..5fe207e 100644
--- a/y2017/control_loops/superstructure/superstructure.q
+++ b/y2017/control_loops/superstructure/superstructure.q
@@ -52,11 +52,12 @@
};
struct TurretGoal {
- // An azimuth angle of zero means the turrent faces toward the front of the
+ // An angle of zero means the turrent faces toward the front of the
// robot where the intake is located. The angle increases when the turret
- // turns clockwise, and decreases when the turrent turns counter-clockwise.
+ // turns clockwise (towards right from the front), and decreases when
+ // the turrent turns counter-clockwise (towards left from the front).
// These are from a top view above the robot.
- double angle_azimuth;
+ double angle;
// Caps on velocity/acceleration for profiling. 0 for the default.
.frc971.ProfileParameters profile_params;
@@ -109,7 +110,7 @@
bool estopped;
// Estimate angles and angular velocities.
- JointState azimuth;
+ JointState turret;
};
struct HoodStatus {
@@ -172,9 +173,9 @@
// Serializer angle in radians.
double theta_serializer;
- // The sensor readings for the azimuth. The units and sign are defined the
+ // The sensor readings for the turret. The units and sign are defined the
// same as what's in the Goal message.
- .frc971.PotAndAbsolutePosition azimuth_turret;
+ .frc971.PotAndAbsolutePosition turret;
// Position of the hood in radians
double theta_hood;
@@ -194,7 +195,7 @@
// Roller on the serializer
float voltage_serializer_rollers;
- float voltage_azimuth_turret;
+ float voltage_turret;
float voltage_hood;
};