| commit | 4fb29760fbed1cd60f79b07934c4e485c098cc00 | [log] [tgz] |
|---|---|---|
| author | James Kuszmaul <jabukuszmaul@gmail.com> | Thu Feb 20 19:37:41 2020 -0800 |
| committer | James Kuszmaul <jabukuszmaul+collab@gmail.com> | Fri Feb 21 15:41:17 2020 -0800 |
| tree | 5f002f44a76028e6f4c63eaf083bb1ce410102da | |
| parent | 03be124fc89ff86faf6bf79d1f79c1cbfa2efd2b [diff] [blame] |
Add piping to SZSDPS for non-profiled goals Change-Id: I5adeadf4f7dfc3455433e13e27635dcb479128e6
diff --git a/frc971/control_loops/profiled_subsystem.fbs b/frc971/control_loops/profiled_subsystem.fbs index e4b2f25..185133b 100644 --- a/frc971/control_loops/profiled_subsystem.fbs +++ b/frc971/control_loops/profiled_subsystem.fbs
@@ -237,4 +237,11 @@ unsafe_goal:double; profile_params:frc971.ProfileParameters; + + // Sets the goal velocity of the subsystem. + goal_velocity:double; + + // If set to true, then we will ignore the profiling on this joint and pass + // the goal + goal velocity directly to the control loop. + ignore_profile:bool; }