Copy back a lot of the 2014 code.
Change-Id: I552292d8bd7bce4409e02d254bef06a9cc009568
diff --git a/y2014/control_loops/drivetrain/drivetrain.q b/y2014/control_loops/drivetrain/drivetrain.q
new file mode 100644
index 0000000..872efec
--- /dev/null
+++ b/y2014/control_loops/drivetrain/drivetrain.q
@@ -0,0 +1,71 @@
+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;