got all of the data from the uart to the queues
diff --git a/frc971/control_loops/claw/claw.gyp b/frc971/control_loops/claw/claw.gyp
index 52712d5..5766d92 100644
--- a/frc971/control_loops/claw/claw.gyp
+++ b/frc971/control_loops/claw/claw.gyp
@@ -1,7 +1,7 @@
{
'targets': [
{
- 'target_name': 'claw_loops',
+ 'target_name': 'claw_loop',
'type': 'static_library',
'sources': ['claw.q'],
'variables': {
@@ -25,13 +25,13 @@
'claw_motor_plant.cc',
],
'dependencies': [
- 'claw_loops',
+ 'claw_loop',
'<(AOS)/common/common.gyp:controls',
'<(DEPTH)/frc971/frc971.gyp:constants',
'<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
],
'export_dependent_settings': [
- 'claw_loops',
+ 'claw_loop',
'<(AOS)/common/common.gyp:controls',
'<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
],
@@ -44,7 +44,7 @@
],
'dependencies': [
'<(EXTERNALS):gtest',
- 'claw_loops',
+ 'claw_loop',
'claw_lib',
'<(AOS)/common/common.gyp:queue_testutils',
'<(DEPTH)/frc971/control_loops/control_loops.gyp:state_feedback_loop',
diff --git a/frc971/control_loops/control_loops.q b/frc971/control_loops/control_loops.q
index ccc8388..631fd59 100644
--- a/frc971/control_loops/control_loops.q
+++ b/frc971/control_loops/control_loops.q
@@ -1,7 +1,15 @@
package frc971;
+// Records edges captured on a single hall effect sensor.
struct HallEffectStruct {
bool current;
int32_t posedge_count;
int32_t negedge_count;
};
+
+// Records the positions for a mechanism with edge-capturing sensors on it.
+struct HallEffectPositions {
+ double current;
+ double posedge;
+ double negedge;
+};