Update the position messages for the new serializer
We're redoing how the robot works, so here's the interface for the new
sensors.
Yes, this breaks the code. Austin is going to fix it soon.
Change-Id: If6dc4113040546ac160305bfd8436878bdc9fd92
diff --git a/y2017/control_loops/superstructure/superstructure.q b/y2017/control_loops/superstructure/superstructure.q
index 427dadb..5a50a06 100644
--- a/y2017/control_loops/superstructure/superstructure.q
+++ b/y2017/control_loops/superstructure/superstructure.q
@@ -107,6 +107,15 @@
double position_error;
};
+struct ColumnPosition {
+ // Indexer angle in radians relative to the base. Positive is according to
+ // the right hand rule around +z.
+ .frc971.HallEffectAndPosition indexer;
+ // Turret angle in radians relative to the indexer. Positive is the same as
+ // the indexer.
+ .frc971.HallEffectAndPosition turret;
+};
+
queue_group SuperstructureQueue {
implements aos.control_loops.ControlLoop;
@@ -138,12 +147,8 @@
// out.
.frc971.PotAndAbsolutePosition intake;
- // Indexer angle in radians.
- double theta_indexer;
-
- // The sensor readings for the turret. The units and sign are defined the
- // same as what's in the Goal message.
- .frc971.PotAndAbsolutePosition turret;
+ // The position of the column.
+ ColumnPosition column;
// The sensor readings for the hood. The units and sign are defined the
// same as what's in the Goal message.