Added comments to show units and direction of movement in .q file.
Change-Id: I6b4fb597b3b5e1cc324bcd9d20856fdb53764cd9
diff --git a/y2017_bot3/control_loops/superstructure/superstructure.q b/y2017_bot3/control_loops/superstructure/superstructure.q
index 91363c4..3de8f68 100644
--- a/y2017_bot3/control_loops/superstructure/superstructure.q
+++ b/y2017_bot3/control_loops/superstructure/superstructure.q
@@ -7,11 +7,15 @@
implements aos.control_loops.ControlLoop;
message Goal {
- // Voltage to send to the rollers. Positive is sucking in.
+ // Voltage from -12 to 12 to send to the rollers. Positive is front surface
+ // of the roller is moving down when gear is moving inwards.
float voltage_rollers;
+ // State of finger pistons. True is out, false is in.
bool fingers_out;
+ // Voltage from -12 to 12 sent to the hanger roller. Positive is front
+ // surface of the hanger is moving down.
float hanger_voltage;
- };
+ };
message Status {
};
@@ -20,6 +24,7 @@
};
message Output {
+ // see above
float voltage_rollers;
bool fingers_out;
float hanger_voltage;