Created a spline drivetrain.
Change-Id: Icfbfcec930d17d1a2ca075fc2eb67594d35113df
diff --git a/frc971/control_loops/drivetrain/drivetrain.q b/frc971/control_loops/drivetrain/drivetrain.q
index c66b03e..f63f685 100644
--- a/frc971/control_loops/drivetrain/drivetrain.q
+++ b/frc971/control_loops/drivetrain/drivetrain.q
@@ -72,6 +72,14 @@
// The control loop will profile if these are all non-zero.
.frc971.ProfileParameters linear;
.frc971.ProfileParameters angular;
+
+ // Parameters for a spline to follow. This just contains info on a spline to
+ // compute. Each time this is sent, spline drivetrain will compute a new
+ // spline.
+ .frc971.MultiSpline spline;
+
+ // Which spline to follow.
+ uint32_t spline_handle;
};
message Position {