Simplified intake portions of superstructure queue.
Deleted IntakeOuput and IntakePosition as they are not needed.
Change-Id: Ib3e045596a7f9246f300a527d94ef7ab79e47b95
diff --git a/y2018/control_loops/superstructure/superstructure.q b/y2018/control_loops/superstructure/superstructure.q
index 93d5935..75198fa 100644
--- a/y2018/control_loops/superstructure/superstructure.q
+++ b/y2018/control_loops/superstructure/superstructure.q
@@ -60,16 +60,6 @@
bool beam_break;
};
-struct IntakePosition {
- // Values of the series elastic encoders on the left side of the robot from
- // the rear perspective in radians.
- IntakeElasticSensors left;
-
- // Values of the series elastic encoders on the right side of the robot from
- // the rear perspective in radians.
- IntakeElasticSensors right;
-};
-
struct ArmStatus {
// State of the estimators.
.frc971.AbsoluteEstimatorState proximal_estimator_state;
@@ -128,15 +118,6 @@
double voltage_rollers;
};
-struct IntakeOutput {
- // Voltage sent to the parts on the left side of the intake.
- IntakeVoltage left;
-
- // Voltage sent to the parts on the right side of the intake.
- IntakeVoltage right;
-};
-
-
queue_group SuperstructureQueue {
implements aos.control_loops.ControlLoop;
@@ -166,7 +147,14 @@
};
message Position {
- IntakePosition intake;
+ // Values of the series elastic encoders on the left side of the robot from
+ // the rear perspective in radians.
+ IntakeElasticSensors left_intake;
+
+ // Values of the series elastic encoders on the right side of the robot from
+ // the rear perspective in radians.
+ IntakeElasticSensors right_intake;
+
ArmPosition arm;
// Value of the beam breaker sensor. This value is true if the beam is
@@ -175,7 +163,11 @@
};
message Output {
- IntakeOutput intake;
+ // Voltage sent to the parts on the left side of the intake.
+ IntakeVoltage left_intake;
+
+ // Voltage sent to the parts on the right side of the intake.
+ IntakeVoltage right_intake;
// Voltage sent to the motors on the proximal joint of the arm.
double voltage_proximal;