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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 41ed7c2972534312d7f7abc20c9bc14cd0a493f5 / . / y2014_bot3 / control_loops / drivetrain / drivetrain.q
blob: c4563f956eb114db7b98254a780c779f8f7d37c9 [file] [log] [blame]
Comran Morshed41ed7c22015-11-04 21:03:37 +0000[diff] [blame^]1package y2014_bot3.control_loops;
Comran Morshede9b12922015-11-04 19:46:48 +0000[diff] [blame]2
3import "aos/common/controls/control_loops.q";
4
Comran Morshede9b12922015-11-04 19:46:48 +0000[diff] [blame]5struct CIMLogging {
6 bool left_in_gear;
7 bool right_in_gear;
8 double left_motor_speed;
9 double right_motor_speed;
10 double left_velocity;
11 double right_velocity;
12};
13
Comran Morshed41ed7c22015-11-04 21:03:37 +0000[diff] [blame^]14queue_group DrivetrainQueue {
Comran Morshede9b12922015-11-04 19:46:48 +0000[diff] [blame]15 implements aos.control_loops.ControlLoop;
16
17 message Goal {
18 double steering;
19 double throttle;
20 bool highgear;
21 bool quickturn;
22 bool control_loop_driving;
23 double left_goal;
24 double left_velocity_goal;
25 double right_goal;
26 double right_velocity_goal;
27 };
28
29 message Position {
30 double left_encoder;
31 double right_encoder;
Comran Morshede9b12922015-11-04 19:46:48 +0000[diff] [blame]32 };
33
34 message Output {
35 double left_voltage;
36 double right_voltage;
37 bool left_high;
38 bool right_high;
39 };
40
41 message Status {
42 double robot_speed;
43 double filtered_left_position;
44 double filtered_right_position;
Comran Morshed41ed7c22015-11-04 21:03:37 +0000[diff] [blame^]45 double filtered_left_velocity;
46 double filtered_right_velocity;
Comran Morshede9b12922015-11-04 19:46:48 +0000[diff] [blame]47
48 double uncapped_left_voltage;
49 double uncapped_right_voltage;
50 bool output_was_capped;
51
52 bool is_done;
53 };
54
55 queue Goal goal;
56 queue Position position;
57 queue Output output;
58 queue Status status;
59};
60
Comran Morshed41ed7c22015-11-04 21:03:37 +0000[diff] [blame^]61queue_group DrivetrainQueue drivetrain_queue;