Fixed profile offsetting bug in superstructure.
Change-Id: Ica0f78cfdf16fc9779b478fd8abeb0f86ccbc96d
diff --git a/y2016/control_loops/superstructure/superstructure.q b/y2016/control_loops/superstructure/superstructure.q
index 96594e1..1ca1ca4 100644
--- a/y2016/control_loops/superstructure/superstructure.q
+++ b/y2016/control_loops/superstructure/superstructure.q
@@ -5,13 +5,17 @@
struct JointState {
// Angle of the joint in radians.
- double angle;
+ float angle;
// Angular velocity of the joint in radians/second.
float angular_velocity;
// Profiled goal angle of the joint in radians.
- double goal_angle;
+ float goal_angle;
// Profiled goal angular velocity of the joint in radians/second.
- double goal_angular_velocity;
+ float goal_angular_velocity;
+ // Unprofiled goal angle of the joint in radians.
+ float unprofiled_goal_angle;
+ // Unprofiled goal angular velocity of the joint in radians/second.
+ float unprofiled_goal_angular_velocity;
// State of the estimator.
.frc971.EstimatorState estimator_state;
@@ -78,9 +82,9 @@
};
message Output {
- double voltage_intake;
- double voltage_shoulder;
- double voltage_wrist;
+ float voltage_intake;
+ float voltage_shoulder;
+ float voltage_wrist;
};
queue Goal goal;