blob: d082e13f2f603ed960bca51bc94c675237e8dc29 [file] [log] [blame]
Daniel Petti1f448512013-10-19 19:35:55 +00001package bot3.control_loops;
2
3import "aos/common/control_loop/control_loops.q";
4
5queue_group Drivetrain {
6 implements aos.control_loops.ControlLoop;
7
8 message Goal {
9 float steering;
10 float throttle;
11 bool highgear;
12 bool quickturn;
13 bool control_loop_driving;
14 float left_goal;
15 float left_velocity_goal;
16 float right_goal;
17 float right_velocity_goal;
18 };
19
20 message Position {
21 double left_encoder;
22 double right_encoder;
23 };
24
25 message Output {
26 float left_voltage;
27 float right_voltage;
28 };
29
30 message Status {
31 bool is_done;
32 };
33
34 queue Goal goal;
35 queue Position position;
36 queue Output output;
37 queue Status status;
38};
39
40queue_group Drivetrain drivetrain;