| commit | 4147255028491c44deeb489869cccf6e094e5201 | [log] [tgz] |
|---|---|---|
| author | Austin Schuh <austin.linux@gmail.com> | Sun Mar 13 18:09:41 2022 -0700 |
| committer | Austin Schuh <austin.linux@gmail.com> | Sun Mar 13 18:27:48 2022 -0700 |
| tree | ebc34dcf2c8f6b4749cdc1913ba946d5f268d228 | |
| parent | 6726d6bfbd56eb29cd247eae9635069adb7ee438 [diff] [blame] |
Report MPC horizon and drop any cycles at the beginning which are 0 This lets us start firing faster. Change-Id: Idda068e3b0ca78da6ec5ab422d217d10d9c65e1c Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2022/control_loops/superstructure/superstructure_status.fbs b/y2022/control_loops/superstructure/superstructure_status.fbs index 92f3dbd..a1817a7 100644 --- a/y2022/control_loops/superstructure/superstructure_status.fbs +++ b/y2022/control_loops/superstructure/superstructure_status.fbs
@@ -72,7 +72,7 @@ catapult:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus (id: 6); solve_time:double (id: 7); - mpc_active:bool (id: 8); + mpc_horizon:uint8 (id: 8); shot_position:double (id: 16); shot_velocity:double (id: 17);