| Austin Schuh | 95771d9 | 2021-01-23 14:42:25 -0800 | [diff] [blame] | 1 | #ifndef FRC971_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_STATES_H_ |
| 2 | #define FRC971_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_STATES_H_ |
| 3 | |
| Stephan Pleines | f63bde8 | 2024-01-13 15:59:33 -0800 | [diff] [blame] | 4 | namespace frc971::control_loops ::drivetrain { |
| Austin Schuh | 95771d9 | 2021-01-23 14:42:25 -0800 | [diff] [blame] | 5 | |
| 6 | enum KalmanState { |
| 7 | kLeftPosition = 0, |
| 8 | kLeftVelocity = 1, |
| 9 | kRightPosition = 2, |
| 10 | kRightVelocity = 3, |
| 11 | kLeftError = 4, |
| 12 | kRightError = 5, |
| 13 | kAngularError = 6 |
| 14 | }; |
| 15 | |
| 16 | enum OutputState { kLeftVoltage = 0, kRightVoltage = 1 }; |
| 17 | |
| Stephan Pleines | f63bde8 | 2024-01-13 15:59:33 -0800 | [diff] [blame] | 18 | } // namespace frc971::control_loops::drivetrain |
| Austin Schuh | 95771d9 | 2021-01-23 14:42:25 -0800 | [diff] [blame] | 19 | |
| 20 | #endif // FRC971_CONTROL_LOOPS_DRIVETRAIN_DRIVETRAIN_STATES_H_ |