Added HallEffectAndPosition
Added the queue message and taught PositionSensorSim how to
populate it.
Change-Id: Ic6be75cebf3f51ff6b3a4162cb3f0800f1aa94e7
diff --git a/frc971/control_loops/control_loops.q b/frc971/control_loops/control_loops.q
index 4d87587..757e257 100644
--- a/frc971/control_loops/control_loops.q
+++ b/frc971/control_loops/control_loops.q
@@ -113,6 +113,21 @@
double negedge_value;
};
+// Records the hall effect sensor and encoder values.
+struct HallEffectAndPosition {
+ // The current hall effect state.
+ bool current;
+ // The current encoder position.
+ double position;
+ // The number of positive and negative edges we've seen on the hall effect
+ // sensor.
+ int32_t posedge_count;
+ int32_t negedge_count;
+ // The values corresponding to the last hall effect sensor reading.
+ double posedge_value;
+ double negedge_value;
+};
+
// Records the positions for a mechanism with edge-capturing sensors on it.
struct HallEffectPositions {
double current;