Work on getting wpilib_interface finished
I moved all the constants together to make it somewhat easier to work. I
also finished renaming serializer to indexer because Austin is more
stubborn than the rest of the team combined.
It at least compiles now. The TODOs are also also much more specific to
the few remaining pieces.
Change-Id: Id3baf2b5be0a946345b152612c2099cf1b599727
diff --git a/y2017/control_loops/superstructure/superstructure.q b/y2017/control_loops/superstructure/superstructure.q
index b1e63bb..be5b824 100644
--- a/y2017/control_loops/superstructure/superstructure.q
+++ b/y2017/control_loops/superstructure/superstructure.q
@@ -7,8 +7,8 @@
//import "frc971/control_loops/control_loops.q";
struct IntakeGoal {
- // Zero on the intake is when the intake is retracted inside the robot,
- // unable to intake. Positive is out.
+ // Zero for the intake is when the front tube is tangent with the front of the
+ // frame. Positive is out.
// Goal distance of the intake.
double distance;
@@ -20,8 +20,8 @@
double voltage_rollers;
};
-struct SerializerGoal {
- // Serializer angular velocity goals in radians/second.
+struct IndexerGoal {
+ // Indexer angular velocity goals in radians/second.
double angular_velocity;
};
@@ -38,8 +38,8 @@
};
struct HoodGoal {
- // Angle the hood is currently at. An angle of zero hood is at the lower soft stop, angle
- // increases as hood rises.
+ // Angle the hood is currently at. An angle of zero is at the lower hard
+ // stop, angle increases as hood rises.
double angle;
// Caps on velocity/acceleration for profiling. 0 for the default.
@@ -47,18 +47,20 @@
};
struct ShooterGoal {
- // Angular velocity goals in radians/second.
+ // Angular velocity goals in radians/second. Positive is shooting out of the
+ // robot.
double angular_velocity;
};
-struct SerializerStatus {
- // The current average velocity in radians/second.
+struct IndexerStatus {
+ // The current average velocity in radians/second. Positive is moving balls up
+ // towards the shooter. This is the angular velocity of the inner piece.
double avg_angular_velocity;
// The current instantaneous filtered velocity in radians/second.
double angular_velocity;
- // True if the serializer is ready. It is better to compare the velocities
+ // True if the indexer is ready. It is better to compare the velocities
// directly so there isn't confusion on if the goal is up to date.
bool ready;
@@ -86,7 +88,7 @@
message Goal {
IntakeGoal intake;
- SerializerGoal serializer;
+ IndexerGoal indexer;
TurretGoal turret;
HoodGoal hood;
ShooterGoal shooter;
@@ -103,7 +105,7 @@
.frc971.control_loops.ProfiledJointStatus intake;
.frc971.control_loops.ProfiledJointStatus turret;
.frc971.control_loops.ProfiledJointStatus hood;
- SerializerStatus serializer;
+ IndexerStatus indexer;
ShooterStatus shooter;
};
@@ -115,8 +117,8 @@
// out.
.frc971.PotAndIndexPosition intake;
- // Serializer angle in radians.
- double theta_serializer;
+ // Indexer angle in radians.
+ double theta_indexer;
// The sensor readings for the turret. The units and sign are defined the
// same as what's in the Goal message.
@@ -133,13 +135,13 @@
message Output {
// Voltages for some of the subsystems.
double voltage_intake;
- double voltage_serializer;
+ double voltage_indexer;
double voltage_shooter;
// Rollers on the intake.
double voltage_intake_rollers;
- // Roller on the serializer
- double voltage_serializer_rollers;
+ // Roller on the indexer
+ double voltage_indexer_rollers;
double voltage_turret;
double voltage_hood;