copied everything over from 2012 and removed all of the actual robot code except the drivetrain stuff
git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4078 f308d9b7-e957-4cde-b6ac-9a88185e7312
diff --git a/aos/common/control_loop/control_loops.q b/aos/common/control_loop/control_loops.q
new file mode 100644
index 0000000..5ba30ec
--- /dev/null
+++ b/aos/common/control_loop/control_loops.q
@@ -0,0 +1,38 @@
+package aos.control_loops;
+
+interface IsDone {
+ bool done;
+};
+
+interface ControlLoop {
+ queue goal;
+ queue position;
+ queue output;
+ queue IsDone status;
+};
+
+message Goal {
+ double goal;
+};
+
+message Position {
+ double position;
+};
+
+message Output {
+ double pwm;
+};
+
+message Status {
+ bool done;
+};
+
+// Single Input Single Output control loop.
+queue_group SISO {
+ implements ControlLoop;
+
+ queue Goal goal;
+ queue Position position;
+ queue Output output;
+ queue Status status;
+};