change all positions+velocities in queue messages to floats
The absolute values of these quantities stay small, so that doesn't
cause issues like it could for positions. We also don't actually know
the values to much precision. This means it's worth it to save space in
log files etc.
Change-Id: I66492db35d9979e34d1a26c57a2e9356f64479cb
diff --git a/frc971/control_loops/claw/claw.q b/frc971/control_loops/claw/claw.q
index 7696d3b..8da1c20 100644
--- a/frc971/control_loops/claw/claw.q
+++ b/frc971/control_loops/claw/claw.q
@@ -14,11 +14,11 @@
// Angle of wrist joint.
double angle;
// Angular velocity of wrist.
- double angular_velocity;
+ float angular_velocity;
// Maximum profile velocity, or 0 for the default.
- double max_velocity;
+ float max_velocity;
// Maximum profile acceleration, or 0 for the default.
- double max_acceleration;
+ float max_acceleration;
// Voltage of intake rollers. Positive means sucking in, negative means
// spitting out.
double intake;
@@ -54,11 +54,11 @@
// Estimated angle of wrist joint.
double angle;
// Estimated angular velocity of wrist.
- double angular_velocity;
+ float angular_velocity;
// Goal angle of wrist joint.
double goal_angle;
- double goal_velocity;
+ float goal_velocity;
// Voltage of intake rollers. Positive means sucking in, negative means
// spitting out.
double intake;
diff --git a/frc971/control_loops/fridge/fridge.q b/frc971/control_loops/fridge/fridge.q
index 637f499..257374d 100644
--- a/frc971/control_loops/fridge/fridge.q
+++ b/frc971/control_loops/fridge/fridge.q
@@ -42,19 +42,19 @@
double height;
// Angular velocity of the arm.
- double angular_velocity;
+ float angular_velocity;
// Linear velocity of the elevator.
- double velocity;
+ float velocity;
// Maximum arm profile angular velocity or 0 for the default.
- double max_angular_velocity;
+ float max_angular_velocity;
// Maximum elevator profile velocity or 0 for the default.
- double max_velocity;
+ float max_velocity;
// Maximum arm profile acceleration or 0 for the default.
- double max_angular_acceleration;
+ float max_angular_acceleration;
// Maximum elevator profile acceleration or 0 for the default.
- double max_acceleration;
+ float max_acceleration;
// X position of the fridge.
double x;
@@ -62,19 +62,19 @@
double y;
// Velocity of the x position of the fridge.
- double x_velocity;
+ float x_velocity;
// Velocity of the y position of the fridge.
- double y_velocity;
+ float y_velocity;
// Maximum x profile velocity or 0 for the default.
- double max_x_velocity;
+ float max_x_velocity;
// Maximum y profile velocity or 0 for the default.
- double max_y_velocity;
+ float max_y_velocity;
// Maximum x profile acceleration or 0 for the default.
- double max_x_acceleration;
+ float max_x_acceleration;
// Maximum y profile acceleration or 0 for the default.
- double max_y_acceleration;
+ float max_y_acceleration;
// TODO(austin): Do I need acceleration here too?
@@ -93,34 +93,34 @@
// Estimated angle of the arm.
double angle;
// Estimated angular velocity of the arm.
- double angular_velocity;
+ float angular_velocity;
// Estimated height of the elevator.
double height;
// Estimated velocity of the elvator.
- double velocity;
+ float velocity;
// state of the grabber pistons
GrabberPistons grabbers;
// Goal angle and velocity of the arm.
double goal_angle;
- double goal_angular_velocity;
+ float goal_angular_velocity;
// Goal height and velocity of the elevator.
double goal_height;
- double goal_velocity;
+ float goal_velocity;
// Estimated X/Y position of the fridge.
// These are translated directly from the height/angle statuses.
double x;
double y;
- double x_velocity;
- double y_velocity;
+ float x_velocity;
+ float y_velocity;
// X/Y goals of the fridge.
// These are translated directly from the height/angle goals.
double goal_x;
double goal_y;
- double goal_x_velocity;
- double goal_y_velocity;
+ float goal_x_velocity;
+ float goal_y_velocity;
// If true, we have aborted.
bool estopped;