converted the claw to separate structures for each hall effect
diff --git a/frc971/control_loops/claw/claw.q b/frc971/control_loops/claw/claw.q
index 66e3036..f78dee6 100644
--- a/frc971/control_loops/claw/claw.q
+++ b/frc971/control_loops/claw/claw.q
@@ -1,28 +1,18 @@
package frc971.control_loops;
import "aos/common/control_loop/control_loops.q";
+import "frc971/control_loops/control_loops.q";
struct HalfClawPosition {
// The current position of this half of the claw.
double position;
- // The value of the front hall effect sensor.
- bool front_hall_effect;
- // The number of positive and negative edges that have been captured on the
- // front hall effect sensor.
- int32_t front_hall_effect_posedge_count;
- int32_t front_hall_effect_negedge_count;
- // The value of the calibration hall effect sensor.
- bool calibration_hall_effect;
- // The number of positive and negative edges that have been captured on the
- // calibration hall effect sensor.
- int32_t calibration_hall_effect_posedge_count;
- int32_t calibration_hall_effect_negedge_count;
- // The value of the back hall effect sensor.
- bool back_hall_effect;
- // The number of positive and negative edges that have been captured on the
- // back hall effect sensor.
- int32_t back_hall_effect_posedge_count;
- int32_t back_hall_effect_negedge_count;
+
+ // The hall effect sensor at the front limit.
+ HallEffectStruct front;
+ // The hall effect sensor in the middle to use for real calibration.
+ HallEffectStruct calibration;
+ // The hall effect at the back limit.
+ HallEffectStruct back;
// The encoder value at the last posedge of any of the claw hall effect
// sensors (front, calibration, or back).