| Austin Schuh | bcce26a | 2018-03-26 23:41:24 -0700 | [diff] [blame] | 1 | #ifndef FRC971_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_Q_H_ |
| 2 | #define FRC971_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_Q_H_ |
| 3 | #include <array> |
| Philipp Schrader | 790cb54 | 2023-07-05 21:06:52 -0700 | [diff] [blame] | 4 | |
| John Park | 33858a3 | 2018-09-28 23:05:48 -0700 | [diff] [blame] | 5 | #include "aos/macros.h" |
| Austin Schuh | bcce26a | 2018-03-26 23:41:24 -0700 | [diff] [blame] | 6 | |
| 7 | namespace frc971 { |
| 8 | namespace control_loops { |
| 9 | |
| 10 | struct GearLogging { |
| 11 | GearLogging(); |
| 12 | void Zero(); |
| 13 | |
| 14 | int8_t controller_index; |
| 15 | bool left_loop_high; |
| 16 | bool right_loop_high; |
| 17 | int8_t left_state; |
| 18 | int8_t right_state; |
| 19 | }; |
| 20 | |
| 21 | struct CIMLogging { |
| 22 | CIMLogging(); |
| 23 | void Zero(); |
| 24 | |
| 25 | bool left_in_gear; |
| 26 | bool right_in_gear; |
| 27 | float left_motor_speed; |
| 28 | float right_motor_speed; |
| 29 | float left_velocity; |
| 30 | float right_velocity; |
| 31 | }; |
| 32 | |
| 33 | struct DrivetrainQueue_Goal { |
| 34 | DrivetrainQueue_Goal(); |
| 35 | void Zero(); |
| 36 | |
| 37 | float wheel; |
| 38 | float wheel_velocity; |
| 39 | float wheel_torque; |
| 40 | float throttle; |
| 41 | float throttle_velocity; |
| 42 | float throttle_torque; |
| 43 | bool highgear; |
| 44 | bool quickturn; |
| 45 | bool control_loop_driving; |
| 46 | float left_goal; |
| 47 | float right_goal; |
| Austin Schuh | bcce26a | 2018-03-26 23:41:24 -0700 | [diff] [blame] | 48 | float max_ss_voltage; |
| 49 | }; |
| 50 | |
| 51 | struct DrivetrainQueue_Position { |
| 52 | DrivetrainQueue_Position(); |
| 53 | void Zero(); |
| 54 | |
| 55 | float left_encoder; |
| 56 | float right_encoder; |
| 57 | float left_speed; |
| 58 | float right_speed; |
| 59 | float left_shifter_position; |
| 60 | float right_shifter_position; |
| 61 | float low_left_hall; |
| 62 | float high_left_hall; |
| 63 | float low_right_hall; |
| 64 | float high_right_hall; |
| 65 | }; |
| 66 | |
| 67 | struct DrivetrainQueue_Output { |
| 68 | DrivetrainQueue_Output(); |
| 69 | void Zero(); |
| 70 | |
| 71 | float left_voltage; |
| 72 | float right_voltage; |
| 73 | bool left_high; |
| 74 | bool right_high; |
| 75 | }; |
| 76 | |
| 77 | struct DrivetrainQueue_Status { |
| 78 | DrivetrainQueue_Status(); |
| 79 | void Zero(); |
| 80 | |
| 81 | float robot_speed; |
| 82 | float estimated_left_position; |
| 83 | float estimated_right_position; |
| 84 | float estimated_left_velocity; |
| 85 | float estimated_right_velocity; |
| 86 | float uncapped_left_voltage; |
| 87 | float uncapped_right_voltage; |
| Austin Schuh | bcce26a | 2018-03-26 23:41:24 -0700 | [diff] [blame] | 88 | float left_voltage_error; |
| 89 | float right_voltage_error; |
| 90 | float profiled_left_position_goal; |
| 91 | float profiled_right_position_goal; |
| 92 | float profiled_left_velocity_goal; |
| 93 | float profiled_right_velocity_goal; |
| 94 | float estimated_angular_velocity_error; |
| 95 | float estimated_heading; |
| 96 | bool output_was_capped; |
| 97 | float ground_angle; |
| 98 | ::frc971::control_loops::GearLogging gear_logging; |
| 99 | ::frc971::control_loops::CIMLogging cim_logging; |
| 100 | }; |
| 101 | |
| 102 | class DrivetrainQueue { |
| 103 | public: |
| 104 | typedef DrivetrainQueue_Goal Goal; |
| 105 | DrivetrainQueue_Goal goal; |
| 106 | typedef DrivetrainQueue_Position Position; |
| 107 | DrivetrainQueue_Position position; |
| 108 | typedef DrivetrainQueue_Output Output; |
| 109 | DrivetrainQueue_Output output; |
| 110 | typedef DrivetrainQueue_Status Status; |
| 111 | DrivetrainQueue_Status status; |
| 112 | }; |
| 113 | |
| 114 | } // namespace control_loops |
| 115 | } // namespace frc971 |
| 116 | |
| 117 | #endif // FRC971_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_Q_H_ |