Added superstructure and intake classes.
Created the superstucture, intake, and intake controller class,
had to alter some of the intake python and superstructure queue to fit.
Change-Id: Ieabcf288f6dd50c282a3bcb61ec13062f735872b
diff --git a/y2018/control_loops/superstructure/superstructure.q b/y2018/control_loops/superstructure/superstructure.q
index 75900fa..3eaeb7e 100644
--- a/y2018/control_loops/superstructure/superstructure.q
+++ b/y2018/control_loops/superstructure/superstructure.q
@@ -13,10 +13,15 @@
// If true, we have aborted.
bool estopped;
+ // Estimated position of the spring.
+ float spring_position;
+ // Estimated velocity of the spring in units/second.
+ float spring_velocity;
+
// Estimated position of the joint.
- float position;
+ float motor_position;
// Estimated velocity of the joint in units/second.
- float velocity;
+ float motor_velocity;
// Goal position of the joint.
float goal_position;
@@ -26,12 +31,15 @@
// The calculated velocity with delta x/delta t
float calculated_velocity;
+ // The voltage given last cycle;
+ float delayed_voltage;
+
// State of the estimator.
.frc971.AbsoluteEstimatorState estimator_state;
};
struct IntakeGoal {
- float roller_voltage;
+ double roller_voltage;
// Goal angle in radians of the intake.
// Zero radians is where the intake is pointing straight out, with positive