Added y2018 wpilib_interface, and constants
Change-Id: I9499fc4fbb34434372583e8e2a572740b60a4715
diff --git a/y2018/control_loops/superstructure/superstructure.q b/y2018/control_loops/superstructure/superstructure.q
index 82f66b4..75900fa 100644
--- a/y2018/control_loops/superstructure/superstructure.q
+++ b/y2018/control_loops/superstructure/superstructure.q
@@ -40,30 +40,26 @@
double right_intake_angle;
};
-struct IntakeElasticEncoders {
+struct IntakeElasticSensors {
// Position of the motor end of the series elastic in radians.
- .frc971.IndexPosition motor_encoder;
+ .frc971.PotAndAbsolutePosition motor_position;
// Displacement of the spring in radians.
double spring_angle;
+
+ // False if the beam break sensor isn't triggered, true if the beam breaker is
+ // triggered.
+ bool beam_break;
};
struct IntakePosition {
- // False if the beam breaker isn't triggered, true if the beam breaker is
- // triggered.
- bool left_beam_breaker;
-
- // False if the beam breaker isn't triggered, true if the beam breaker is
- // triggered.
- bool right_beam_breaker;
-
// Values of the series elastic encoders on the left side of the robot from
// the rear perspective in radians.
- IntakeElasticEncoders left;
+ IntakeElasticSensors left;
// Values of the series elastic encoders on the right side of the robot from
// the rear perspective in radians.
- IntakeElasticEncoders right;
+ IntakeElasticSensors right;
};
struct ArmStatus {
@@ -149,7 +145,14 @@
// Clamped (when true) or unclamped (when false) status sent to the
// pneumatic claw on the arm.
- bool claw_output;
+ bool claw_grabbed;
+
+ // If true, release the arm brakes.
+ bool release_arm_brake;
+ // If true, release the hook
+ bool hook_release;
+ // If true, release the forks
+ bool forks_release;
};
queue Goal goal;