| Austin Schuh | 3bb9a44 | 2014-02-02 16:01:45 -0800 | [diff] [blame^] | 1 | package frc971.control_loops; |
| 2 | |
| 3 | import "aos/common/control_loop/control_loops.q"; |
| 4 | |
| 5 | // All angles here are 0 horizontal, positive up. |
| 6 | queue_group ClawLoop { |
| 7 | implements aos.control_loops.ControlLoop; |
| 8 | |
| 9 | message Goal { |
| 10 | // The angle of the bottom wrist. |
| 11 | double bottom_angle; |
| 12 | // How much higher the top wrist is. |
| 13 | double seperation_angle; |
| 14 | bool intake; |
| 15 | }; |
| 16 | message Position { |
| 17 | double top_position; |
| 18 | |
| 19 | bool top_front_hall_effect; |
| 20 | int32_t top_front_hall_effect_posedge_count; |
| 21 | int32_t top_front_hall_effect_negedge_count; |
| 22 | bool top_calibration_hall_effect; |
| 23 | int32_t top_calibration_hall_effect_posedge_count; |
| 24 | int32_t top_calibration_hall_effect_negedge_count; |
| 25 | bool top_back_hall_effect; |
| 26 | int32_t top_back_hall_effect_posedge_count; |
| 27 | int32_t top_back_hall_effect_negedge_count; |
| 28 | double top_posedge_value; |
| 29 | double top_negedge_value; |
| 30 | |
| 31 | double bottom_position; |
| 32 | bool bottom_front_hall_effect; |
| 33 | int32_t bottom_front_hall_effect_posedge_count; |
| 34 | int32_t bottom_front_hall_effect_negedge_count; |
| 35 | bool bottom_calibration_hall_effect; |
| 36 | int32_t bottom_calibration_hall_effect_posedge_count; |
| 37 | int32_t bottom_calibration_hall_effect_negedge_count; |
| 38 | bool bottom_back_hall_effect; |
| 39 | int32_t bottom_back_hall_effect_posedge_count; |
| 40 | int32_t bottom_back_hall_effect_negedge_count; |
| 41 | double bottom_posedge_value; |
| 42 | double bottom_negedge_value; |
| 43 | }; |
| 44 | |
| 45 | message Output { |
| 46 | double intake_voltage; |
| 47 | double top_claw_voltage; |
| 48 | double bottom_claw_voltage; |
| 49 | }; |
| 50 | |
| 51 | queue Goal goal; |
| 52 | queue Position position; |
| 53 | queue Output output; |
| 54 | queue aos.control_loops.Status status; |
| 55 | }; |
| 56 | |
| 57 | queue_group ClawLoop claw; |