Copied over and modified drivetrain framework.
Sorry for the truly massive commit, there's not really a good way
to split it up, as then things will stop compiling.
Needless to say, stuff does compile but remains as of yet
untested.
Among the changes:
- Copied over constants for drivetrain_motor_plant from 2012.
- Completely (for now) disabled control loop driving, as Brian
said those loops would be too much work to tune.
- Put stuff in the proper namespaces and fixed the bazillion
resulting broken refs.
- Copied autonomous framework, but it currectly does nothing.
(I intend for this to change in the future.)
In it's current state, the work on this branch should render
the robot driveable, but that's about it.
diff --git a/bot3/control_loops/drivetrain/drivetrain.q b/bot3/control_loops/drivetrain/drivetrain.q
new file mode 100644
index 0000000..d082e13
--- /dev/null
+++ b/bot3/control_loops/drivetrain/drivetrain.q
@@ -0,0 +1,40 @@
+package bot3.control_loops;
+
+import "aos/common/control_loop/control_loops.q";
+
+queue_group Drivetrain {
+ implements aos.control_loops.ControlLoop;
+
+ message Goal {
+ float steering;
+ float throttle;
+ bool highgear;
+ bool quickturn;
+ bool control_loop_driving;
+ float left_goal;
+ float left_velocity_goal;
+ float right_goal;
+ float right_velocity_goal;
+ };
+
+ message Position {
+ double left_encoder;
+ double right_encoder;
+ };
+
+ message Output {
+ float left_voltage;
+ float right_voltage;
+ };
+
+ message Status {
+ bool is_done;
+ };
+
+ queue Goal goal;
+ queue Position position;
+ queue Output output;
+ queue Status status;
+};
+
+queue_group Drivetrain drivetrain;