Added most of Ben's changes in.
diff --git a/frc971/control_loops/claw/claw.q b/frc971/control_loops/claw/claw.q
index 8852fd3..03f1930 100644
--- a/frc971/control_loops/claw/claw.q
+++ b/frc971/control_loops/claw/claw.q
@@ -3,19 +3,22 @@
import "aos/common/control_loop/control_loops.q";
// All angles here are 0 horizontal, positive up.
-queue_group ClawLoop {
+queue_group ClawGroup {
implements aos.control_loops.ControlLoop;
message Goal {
- // The angle of the bottom wrist.
+ // The angle of the bottom claw.
double bottom_angle;
- // How much higher the top wrist is.
+ // How much higher the top claw is.
double seperation_angle;
bool intake;
};
message Position {
+ // Top claw position relative to power on.
double top_position;
+
+ // Three Hall Effects with respect to the top claw
bool top_front_hall_effect;
int32_t top_front_hall_effect_posedge_count;
int32_t top_front_hall_effect_negedge_count;
@@ -25,10 +28,18 @@
bool top_back_hall_effect;
int32_t top_back_hall_effect_posedge_count;
int32_t top_back_hall_effect_negedge_count;
+
+ // The encoder value at the last posedge of any of the top claw hall effect
+ // sensors.
double top_posedge_value;
+ // The encoder value at the last negedge of any of the top claw hall effect
+ // sensors.
double top_negedge_value;
+ // bottom claw relative position
double bottom_position;
+
+ // Three Hall Effects with respect to the bottom claw
bool bottom_front_hall_effect;
int32_t bottom_front_hall_effect_posedge_count;
int32_t bottom_front_hall_effect_negedge_count;
@@ -38,7 +49,12 @@
bool bottom_back_hall_effect;
int32_t bottom_back_hall_effect_posedge_count;
int32_t bottom_back_hall_effect_negedge_count;
+
+ // The encoder value at the last posedge of any of the bottom claw hall
+ // effect sensors.
double bottom_posedge_value;
+ // The encoder value at the last negedge of any of the bottom claw hall
+ // effect sensors.
double bottom_negedge_value;
};
@@ -54,4 +70,4 @@
queue aos.control_loops.Status status;
};
-queue_group ClawLoop claw;
+queue_group ClawGroup claw_queue_group;