| Austin Schuh | 88af085 | 2016-12-04 20:31:32 -0800 | [diff] [blame] | 1 | package y2015.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; |
| Austin Schuh | 3fc6d5f | 2015-04-18 22:59:20 -0700 | [diff] [blame] | 13 | double maximum_turn_velocity; |
| 14 | double maximum_turn_acceleration; |
| Ben Fredrickson | 9fb2ab1 | 2015-02-16 16:42:08 -0800 | [diff] [blame] | 15 | }; |
| 16 | |
| Austin Schuh | 80ff2e1 | 2014-03-08 12:06:19 -0800 | [diff] [blame] | 17 | queue_group DrivetrainActionQueueGroup { |
| Ben Fredrickson | d69f38b | 2015-01-28 20:06:15 -0800 | [diff] [blame] | 18 | implements aos.common.actions.ActionQueueGroup; |
| Austin Schuh | 80ff2e1 | 2014-03-08 12:06:19 -0800 | [diff] [blame] | 19 | |
| 20 | message Goal { |
| Austin Schuh | 577edf6 | 2014-04-13 10:33:05 -0700 | [diff] [blame] | 21 | uint32_t run; |
| Ben Fredrickson | 9fb2ab1 | 2015-02-16 16:42:08 -0800 | [diff] [blame] | 22 | DrivetrainActionParams params; |
| Austin Schuh | 80ff2e1 | 2014-03-08 12:06:19 -0800 | [diff] [blame] | 23 | }; |
| 24 | |
| 25 | queue Goal goal; |
| Ben Fredrickson | d69f38b | 2015-01-28 20:06:15 -0800 | [diff] [blame] | 26 | queue aos.common.actions.Status status; |
| Austin Schuh | 80ff2e1 | 2014-03-08 12:06:19 -0800 | [diff] [blame] | 27 | }; |
| 28 | |
| 29 | queue_group DrivetrainActionQueueGroup drivetrain_action; |