Added more internal state logging to arm.
Change-Id: Ic4c07c74f740af4e5af32d2d140a76ba78f00ee5
diff --git a/y2016/control_loops/superstructure/superstructure.q b/y2016/control_loops/superstructure/superstructure.q
index 8a3b518..277e3ce 100644
--- a/y2016/control_loops/superstructure/superstructure.q
+++ b/y2016/control_loops/superstructure/superstructure.q
@@ -17,6 +17,17 @@
// Unprofiled goal angular velocity of the joint in radians/second.
float unprofiled_goal_angular_velocity;
+ // The estimated voltage error.
+ float voltage_error;
+
+ // The calculated velocity with delta x/delta t
+ float calculated_velocity;
+
+ // Components of the control loop output
+ float position_power;
+ float velocity_power;
+ float feedforwards_power;
+
// State of the estimator.
.frc971.EstimatorState estimator_state;
};