Updated constants and wpilib_interface.
Updated wpilib_interface and the constants files to have the
superstructure components.
Updated the linear_system codegen to output free speed in radians.
Updated the intake python file with the correct gear ratio.
Created the superstructure plants.
Change-Id: I5a2b54fe3de8d9ae9b0f79820465a2f97baed22d
diff --git a/y2019/control_loops/superstructure/superstructure.q b/y2019/control_loops/superstructure/superstructure.q
index fef9ced..cd004ac 100644
--- a/y2019/control_loops/superstructure/superstructure.q
+++ b/y2019/control_loops/superstructure/superstructure.q
@@ -86,7 +86,7 @@
.frc971.PotAndAbsolutePosition wrist;
// Position of the intake. 0 when rollers are retracted, positive extended.
- .frc971.PotAndAbsolutePosition intake_joint;
+ .frc971.AbsolutePosition intake_joint;
// Position of the stilts, 0 when retracted (defualt), positive lifts robot.
.frc971.PotAndAbsolutePosition stilts;
@@ -124,4 +124,4 @@
queue Position position;
};
-queue_group SuperstructureQueue superstructure_queue;
\ No newline at end of file
+queue_group SuperstructureQueue superstructure_queue;