| package frc971.control_loops; |
| |
| import "aos/common/controls/control_loops.q"; |
| |
| struct GearLogging { |
| int8_t controller_index; |
| bool left_loop_high; |
| bool right_loop_high; |
| int8_t left_state; |
| int8_t right_state; |
| }; |
| |
| struct CIMLogging { |
| bool left_in_gear; |
| bool right_in_gear; |
| double left_motor_speed; |
| double right_motor_speed; |
| double left_velocity; |
| double right_velocity; |
| }; |
| |
| queue_group DrivetrainQueue { |
| implements aos.control_loops.ControlLoop; |
| |
| message Goal { |
| double steering; |
| double throttle; |
| //bool highgear; |
| bool quickturn; |
| bool control_loop_driving; |
| double left_goal; |
| double left_velocity_goal; |
| double right_goal; |
| double right_velocity_goal; |
| }; |
| |
| message Position { |
| double left_encoder; |
| double right_encoder; |
| //double left_shifter_position; |
| //double right_shifter_position; |
| }; |
| |
| message Output { |
| double left_voltage; |
| double right_voltage; |
| bool left_high; |
| bool right_high; |
| }; |
| |
| message Status { |
| double robot_speed; |
| double filtered_left_position; |
| double filtered_right_position; |
| double filtered_left_velocity; |
| double filtered_right_velocity; |
| |
| double uncapped_left_voltage; |
| double uncapped_right_voltage; |
| bool output_was_capped; |
| |
| bool is_done; |
| }; |
| |
| queue Goal goal; |
| queue Position position; |
| queue Output output; |
| queue Status status; |
| }; |
| |
| queue_group DrivetrainQueue drivetrain_queue; |