commit 29e417d1dfe106fd763fd46cc5ea3f3d31da0935
author James Kuszmaul <jabukuszmaul@gmail.com> Sat Apr 13 10:03:35 2019 -0700
committer James Kuszmaul <jabukuszmaul@gmail.com> Sun Apr 14 10:22:25 2019 -0700
tree 6e2318f6c2989b5692ea6e003dcede0482a916d5
parent ccc368bf8f1662fb9348ccd855271ef82bbd1c5a

Allow cancelling un-executed splines

Previously we couldn't cancel a spline without starting execution of it.

Also, allow specifying driving backwards on a per-spline basis.

Change-Id: I7a1fc54a49bfdcfe8c8614bde18d2976ba3a7868

frc971/control_loops/drivetrain/drivetrain.q

diff --git a/frc971/control_loops/drivetrain/drivetrain.q b/frc971/control_loops/drivetrain/drivetrain.q
index 09ecb4f..939ad75 100644
--- a/frc971/control_loops/drivetrain/drivetrain.q
+++ b/frc971/control_loops/drivetrain/drivetrain.q
@@ -45,6 +45,8 @@
 
   // State of the spline execution.
   bool is_executing;
+  // Whether we have finished the spline specified by current_spline_idx.
+  bool is_executed;
 
   // The handle of the goal spline.  0 means stop requested.
   int32_t goal_spline_handle;
@@ -130,8 +132,6 @@
 
     // Which spline to follow.
     int32_t spline_handle;
-    // Whether to follow the spline driving forwards or backwards.
-    bool drive_spline_backwards;
   };
 
   message Position {