Claw control loop now is only profiled.
Change-Id: I862b2abdd61ef70a483ebb7066dde13e946274d8
diff --git a/frc971/control_loops/claw/claw.q b/frc971/control_loops/claw/claw.q
index e05f779..7696d3b 100644
--- a/frc971/control_loops/claw/claw.q
+++ b/frc971/control_loops/claw/claw.q
@@ -15,6 +15,10 @@
double angle;
// Angular velocity of wrist.
double angular_velocity;
+ // Maximum profile velocity, or 0 for the default.
+ double max_velocity;
+ // Maximum profile acceleration, or 0 for the default.
+ double max_acceleration;
// Voltage of intake rollers. Positive means sucking in, negative means
// spitting out.
double intake;
@@ -47,10 +51,14 @@
uint32_t state;
EstimatorState zeroing_state;
- // Angle of wrist joint.
+ // Estimated angle of wrist joint.
double angle;
+ // Estimated angular velocity of wrist.
+ double angular_velocity;
+
// Goal angle of wrist joint.
double goal_angle;
+ double goal_velocity;
// Voltage of intake rollers. Positive means sucking in, negative means
// spitting out.
double intake;