Started work on creating a shooter action with Austin.
diff --git a/frc971/control_loops/claw/claw.q b/frc971/control_loops/claw/claw.q
index f1d2f93..c67ed20 100644
--- a/frc971/control_loops/claw/claw.q
+++ b/frc971/control_loops/claw/claw.q
@@ -51,6 +51,16 @@
double tusk_voltage;
};
+ message Status {
+ // True if zeroed and within tolerance for separation and bottom angle.
+ bool done;
+ // Dump the values of the state matrix.
+ double bottom;
+ double bottom_velocity;
+ double separation;
+ double separation_velocity;
+ };
+
queue Goal goal;
queue Position position;
queue Output output;