commit 41ed7c2972534312d7f7abc20c9bc14cd0a493f5
author Comran Morshed <comranmorsh@gmail.com> Wed Nov 04 21:03:37 2015 +0000
committer Austin Schuh <austin@peloton-tech.com> Wed Nov 18 19:00:48 2015 -0800
tree bb75a0d170aaacb3e5ae05500e5dfdffac8e86af
parent e9b129253932e4617096c34ccd334af723cb9b8c

Port y2014 bot3 to new control system.

Change-Id: I894277089335e36ea95b52e033056b1a8fb4ca30

y2014_bot3/control_loops/drivetrain/drivetrain.q

diff --git a/y2014_bot3/control_loops/drivetrain/drivetrain.q b/y2014_bot3/control_loops/drivetrain/drivetrain.q
index f4fe3d5..c4563f9 100644
--- a/y2014_bot3/control_loops/drivetrain/drivetrain.q
+++ b/y2014_bot3/control_loops/drivetrain/drivetrain.q
@@ -1,15 +1,7 @@
-package bot3.control_loops;
+package y2014_bot3.control_loops;
 
 import "aos/common/controls/control_loops.q";
 
-struct GearLogging {
-  int8_t controller_index;
-  bool left_loop_high;
-  bool right_loop_high;
-  int8_t left_state;
-  int8_t right_state;
-};
-
 struct CIMLogging {
   bool left_in_gear;
   bool right_in_gear;
@@ -19,7 +11,7 @@
   double right_velocity;
 };
 
-queue_group Drivetrain {
+queue_group DrivetrainQueue {
   implements aos.control_loops.ControlLoop;
 
   message Goal {
@@ -37,9 +29,6 @@
   message Position {
     double left_encoder;
     double right_encoder;
-    double left_shifter_position;
-    double right_shifter_position;
-    double battery_voltage;
   };
 
   message Output {
@@ -53,6 +42,8 @@
     double robot_speed;
     double filtered_left_position;
     double filtered_right_position;
+    double filtered_left_velocity;
+    double filtered_right_velocity;
 
     double uncapped_left_voltage;
     double uncapped_right_voltage;
@@ -67,4 +58,4 @@
   queue Status status;
 };
 
-queue_group Drivetrain drivetrain;
+queue_group DrivetrainQueue drivetrain_queue;