This stuff lets tests run
diff --git a/frc971/control_loops/shooter/shooter.q b/frc971/control_loops/shooter/shooter.q
index 860162e..7a487bc 100644
--- a/frc971/control_loops/shooter/shooter.q
+++ b/frc971/control_loops/shooter/shooter.q
@@ -1,13 +1,21 @@
package frc971.control_loops;
-import "aos/common/control_loop/control_looops.q";
+import "aos/common/control_loop/control_loops.q";
queue_group ShooterLoop {
implements aos.control_loops.ControlLoop;
+ message Output {
+ // The energy to load to in joules.
+ double voltage;
+ // Shoots as soon as this is true.
+ bool latched;
+ bool locked; //Disc brake locked
+ };
message Goal {
// The energy to load to in joules.
double energy;
+ double goal;
// Shoots as soon as this is true.
bool shoot;
};
@@ -23,12 +31,13 @@
// Whether the plunger is in and out of the way of grabbing a ball.
bool cocked;
// How many times we've shot.
- int shots;
+ int32_t shots;
+ bool done;
};
queue Goal goal;
queue Position position;
- queue aos.control_loops.Output output;
+ queue Output output;
queue Status status;
};