added the interface for passing disc counter edges into the loop
diff --git a/frc971/control_loops/index/index_motor.q b/frc971/control_loops/index/index_motor.q
index 1ff9ab4..87c1e55 100644
--- a/frc971/control_loops/index/index_motor.q
+++ b/frc971/control_loops/index/index_motor.q
@@ -18,8 +18,17 @@
message Position {
// Index position
double index_position;
- bool bottom_disc_detect;
+
+ // Current values of both sensors.
bool top_disc_detect;
+ bool bottom_disc_detect;
+ // Counts for positive and negative edges on the bottom sensor.
+ int32_t bottom_disc_posedge_count;
+ int32_t bottom_disc_negedge_count;
+ // The most recent encoder position read TODO(aschuh) after the most recent
+ // negedge and a count of how many times it's been updated.
+ double bottom_disc_negedge_wait_position;
+ int32_t bottom_disc_negedge_wait_count;
};
message Output {