Converted hood to only need an index pulse.
We now have a more complicated seek mechanism which runs the hood to
each hard stop, or until we find both index pulses.
Change-Id: I9932cc158beec0bc55dc0e908accb0aea6a73506
diff --git a/frc971/control_loops/profiled_subsystem.q b/frc971/control_loops/profiled_subsystem.q
index 2bc1879..f89da14 100644
--- a/frc971/control_loops/profiled_subsystem.q
+++ b/frc971/control_loops/profiled_subsystem.q
@@ -77,3 +77,41 @@
// State of the estimator.
.frc971.AbsoluteEstimatorState estimator_state;
};
+
+struct IndexProfiledJointStatus {
+ // Is the subsystem zeroed?
+ bool zeroed;
+
+ // The state of the subsystem, if applicable. -1 otherwise.
+ int32_t state;
+
+ // If true, we have aborted.
+ bool estopped;
+
+ // Position of the joint.
+ float position;
+ // Velocity of the joint in units/second.
+ float velocity;
+ // Profiled goal position of the joint.
+ float goal_position;
+ // Profiled goal velocity of the joint in units/second.
+ float goal_velocity;
+ // Unprofiled goal position from absoulte zero of the joint.
+ float unprofiled_goal_position;
+ // Unprofiled goal velocity of the joint in units/second.
+ float unprofiled_goal_velocity;
+
+ // The estimated voltage error.
+ float voltage_error;
+
+ // The calculated velocity with delta x/delta t
+ float calculated_velocity;
+
+ // Components of the control loop output
+ float position_power;
+ float velocity_power;
+ float feedforwards_power;
+
+ // State of the estimator.
+ .frc971.IndexEstimatorState estimator_state;
+};