| Brian Silverman | b601d89 | 2015-12-20 18:24:38 -0500 | [diff] [blame] | 1 | package y2014.actors; |
| Brian Silverman | 17f503e | 2015-08-02 18:17:18 -0700 | [diff] [blame] | 2 | |
| 3 | import "aos/common/actions/actions.q"; |
| 4 | |
| 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; |
| 13 | double maximum_turn_velocity; |
| 14 | double maximum_turn_acceleration; |
| 15 | }; |
| 16 | |
| 17 | queue_group DrivetrainActionQueueGroup { |
| 18 | implements aos.common.actions.ActionQueueGroup; |
| 19 | |
| 20 | message Goal { |
| 21 | uint32_t run; |
| 22 | DrivetrainActionParams params; |
| 23 | }; |
| 24 | |
| 25 | queue Goal goal; |
| 26 | queue aos.common.actions.Status status; |
| 27 | }; |
| 28 | |
| 29 | queue_group DrivetrainActionQueueGroup drivetrain_action; |