| brians | 343bc11 | 2013-02-10 01:53:46 +0000 | [diff] [blame] | 1 | package aos.control_loops; |
| 2 | |
| brians | 343bc11 | 2013-02-10 01:53:46 +0000 | [diff] [blame] | 3 | interface ControlLoop { |
| 4 | queue goal; |
| 5 | queue position; |
| 6 | queue output; |
| Austin Schuh | 5ae4efd | 2015-02-15 23:34:22 -0800 | [diff] [blame] | 7 | queue status; |
| brians | 343bc11 | 2013-02-10 01:53:46 +0000 | [diff] [blame] | 8 | }; |
| 9 | |
| 10 | message Goal { |
| 11 | double goal; |
| 12 | }; |
| 13 | |
| 14 | message Position { |
| 15 | double position; |
| 16 | }; |
| 17 | |
| 18 | message Output { |
| Austin Schuh | dc1c84a | 2013-02-23 16:33:10 -0800 | [diff] [blame] | 19 | double voltage; |
| brians | 343bc11 | 2013-02-10 01:53:46 +0000 | [diff] [blame] | 20 | }; |
| 21 | |
| 22 | message Status { |
| 23 | bool done; |
| 24 | }; |
| 25 | |
| 26 | // Single Input Single Output control loop. |
| 27 | queue_group SISO { |
| 28 | implements ControlLoop; |
| 29 | |
| 30 | queue Goal goal; |
| 31 | queue Position position; |
| 32 | queue Output output; |
| 33 | queue Status status; |
| 34 | }; |