frc971/control_loops/shooter/shooter.q

package frc971.control_loops;

import "aos/common/control_loop/control_looops.q";

queue_group ShooterLoop {
  implements aos.control_loops.ControlLoop;

  message Goal {
	// The energy to load to in joules.
    double energy;
	// Shoots as soon as this is true.
	bool shoot;
  };
  message Position {
    bool back_hall_effect;
	// In meters, out is positive.
	double position;
	double back_calibration;
  };
  message Status {
	// Whether it's ready to shoot immediately or not.
    bool ready;
	// How many times we've shot.
	int shots;
  };

  queue Goal goal;
  queue Position position;
  queue aos.control_loops.Output output;
  queue Status status;
};

queue_group ShooterLoop shooter;