Began shooter integration in superstructure class.
This adds the shooter control loops to the superstructure class.
Change-Id: Ia54550a8c9598349347df7df8e07d81becd1673e
diff --git a/y2017/control_loops/superstructure/superstructure.q b/y2017/control_loops/superstructure/superstructure.q
index 43e6004..4a5edd8 100644
--- a/y2017/control_loops/superstructure/superstructure.q
+++ b/y2017/control_loops/superstructure/superstructure.q
@@ -81,6 +81,15 @@
// If true, we have aborted.
bool estopped;
+
+ // The estimated voltage error from the kalman filter in volts.
+ double voltage_error;
+
+ // The current velocity measured as delta x / delta t in radians/sec.
+ double instantaneous_velocity;
+
+ // The error between our measurement and expected measurement in radians.
+ double position_error;
};
queue_group SuperstructureQueue {