| Daniel Petti | 3b1e48f | 2015-02-15 15:57:53 -0800 | [diff] [blame] | 1 | package frc971.actors; |
| Austin Schuh | 80ff2e1 | 2014-03-08 12:06:19 -0800 | [diff] [blame] | 2 | |
| Ben Fredrickson | d69f38b | 2015-01-28 20:06:15 -0800 | [diff] [blame] | 3 | import "aos/common/actions/actions.q"; |
| Brian Silverman | 2c1e034 | 2014-04-11 16:15:01 -0700 | [diff] [blame] | 4 | |
| Ben Fredrickson | 9fb2ab1 | 2015-02-16 16:42:08 -0800 | [diff] [blame] | 5 | // Parameters to send with start. |
| 6 | struct DrivetrainActionParams { |
| 7 | double left_initial_position; |
| 8 | double right_initial_position; |
| 9 | double y_offset; |
| 10 | double theta_offset; |
| 11 | double maximum_velocity; |
| 12 | double maximum_acceleration; |
| 13 | }; |
| 14 | |
| Austin Schuh | 80ff2e1 | 2014-03-08 12:06:19 -0800 | [diff] [blame] | 15 | queue_group DrivetrainActionQueueGroup { |
| Ben Fredrickson | d69f38b | 2015-01-28 20:06:15 -0800 | [diff] [blame] | 16 | implements aos.common.actions.ActionQueueGroup; |
| Austin Schuh | 80ff2e1 | 2014-03-08 12:06:19 -0800 | [diff] [blame] | 17 | |
| 18 | message Goal { |
| Austin Schuh | 577edf6 | 2014-04-13 10:33:05 -0700 | [diff] [blame] | 19 | uint32_t run; |
| Ben Fredrickson | 9fb2ab1 | 2015-02-16 16:42:08 -0800 | [diff] [blame] | 20 | DrivetrainActionParams params; |
| Austin Schuh | 80ff2e1 | 2014-03-08 12:06:19 -0800 | [diff] [blame] | 21 | }; |
| 22 | |
| 23 | queue Goal goal; |
| Ben Fredrickson | d69f38b | 2015-01-28 20:06:15 -0800 | [diff] [blame] | 24 | queue aos.common.actions.Status status; |
| Austin Schuh | 80ff2e1 | 2014-03-08 12:06:19 -0800 | [diff] [blame] | 25 | }; |
| 26 | |
| 27 | queue_group DrivetrainActionQueueGroup drivetrain_action; |