Add intake and turret code plus superstructure tests
Signed-off-by: Milo Lin <100027790@mvla.net>
Change-Id: I9885bd1e839ba0356147606415ae915cd295faf6
Change-Id: I33bc83673645869e255136198c0789f722c881a0
Signed-off-by: Siddhartha Chatterjee <ninja.siddhartha@gmail.com>
Signed-off-by: Griffin Bui <griffinbui+gerrit@gmail.com>
Signed-off-by: Henry Speiser <henry@speiser.net>
diff --git a/y2022/control_loops/superstructure/superstructure_status.fbs b/y2022/control_loops/superstructure/superstructure_status.fbs
index 0ee0994..b4bad2a 100644
--- a/y2022/control_loops/superstructure/superstructure_status.fbs
+++ b/y2022/control_loops/superstructure/superstructure_status.fbs
@@ -12,6 +12,12 @@
// Subsystem statuses
climber:frc971.control_loops.RelativeEncoderProfiledJointStatus (id: 2);
+
+ // Estimated angles and angular velocities of the intakes.
+ intake_front:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus (id: 3);
+ intake_back:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus (id: 4);
+
+ turret:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus (id: 5);
}
root_type Status;
\ No newline at end of file