| Alex Perry | cb7da4b | 2019-08-28 19:35:56 -0700 | [diff] [blame^] | 1 | namespace y2014.control_loops.claw; |
| 2 | |
| 3 | // All angles here are 0 vertical, positive "up" (aka backwards). |
| 4 | table Status { |
| 5 | // True if zeroed enough for the current period (autonomous or teleop). |
| 6 | zeroed:bool; |
| 7 | // True if zeroed as much as we will force during autonomous. |
| 8 | zeroed_for_auto:bool; |
| 9 | // True if zeroed and within tolerance for separation and bottom angle. |
| 10 | done:bool; |
| 11 | // True if zeroed and within tolerance for separation and bottom angle. |
| 12 | // seperation allowance much wider as a ball may be included |
| 13 | done_with_ball:bool; |
| 14 | // Dump the values of the state matrix. |
| 15 | bottom:double; |
| 16 | bottom_velocity:double; |
| 17 | separation:double; |
| 18 | separation_velocity:double; |
| 19 | } |
| 20 | |
| 21 | root_type Status; |