tweaking queues
diff --git a/frc971/control_loops/shooter/shooter.q b/frc971/control_loops/shooter/shooter.q
index 2b505e1..860162e 100644
--- a/frc971/control_loops/shooter/shooter.q
+++ b/frc971/control_loops/shooter/shooter.q
@@ -6,22 +6,24 @@
implements aos.control_loops.ControlLoop;
message Goal {
- // The energy to load to in joules.
+ // The energy to load to in joules.
double energy;
- // Shoots as soon as this is true.
- bool shoot;
+ // Shoots as soon as this is true.
+ bool shoot;
};
message Position {
bool back_hall_effect;
- // In meters, out is positive.
- double position;
- double back_calibration;
+ // In meters, out is positive.
+ double position;
+ double back_calibration;
};
message Status {
- // Whether it's ready to shoot immediately or not.
+ // Whether it's ready to shoot right now.
bool ready;
- // How many times we've shot.
- int shots;
+ // Whether the plunger is in and out of the way of grabbing a ball.
+ bool cocked;
+ // How many times we've shot.
+ int shots;
};
queue Goal goal;
diff --git a/frc971/control_loops/wrists/wrists.q b/frc971/control_loops/wrists/wrists.q
index 0f5a4a8..36159c9 100644
--- a/frc971/control_loops/wrists/wrists.q
+++ b/frc971/control_loops/wrists/wrists.q
@@ -7,16 +7,16 @@
implements aos.control_loops.ControlLoop;
message Goal {
- // The angle of the bottom wrist.
- double bottom_angle;
- // How much higher the top wrist is.
- double between_angle;
- bool intake;
+ // The angle of the bottom wrist.
+ double bottom_angle;
+ // How much higher the top wrist is.
+ double between_angle;
+ bool intake;
};
message Position {
double bottom_position, top_position;
- bool bottom_hall_effect, top_hall_effect;
- double bottom_calibration, top_calibration;
+ bool bottom_hall_effect, top_hall_effect;
+ double bottom_calibration, top_calibration;
};
queue Goal goal;