List superstructure subsystems that aren't ready
Put this in the status for debugging why we aren't shooting yet
Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Change-Id: I3ae07995a2b15b5db1c02863605e4079e1e2f571
diff --git a/y2020/control_loops/superstructure/superstructure_status.fbs b/y2020/control_loops/superstructure/superstructure_status.fbs
index aab1341..16f7445 100644
--- a/y2020/control_loops/superstructure/superstructure_status.fbs
+++ b/y2020/control_loops/superstructure/superstructure_status.fbs
@@ -3,6 +3,12 @@
namespace y2020.control_loops.superstructure;
+enum Subsystem:byte {
+ FINISHER,
+ ACCELERATOR,
+ TURRET
+}
+
table FlywheelControllerStatus {
// The current average velocity in radians/second over the last kHistoryLength
// in shooter.h
@@ -76,6 +82,9 @@
// Status of the vision auto-tracking.
aimer:AimerStatus (id: 7);
+
+ // Vector of the subsystems that are not at goal and are preventing shooting.
+ subsystems_not_ready:[Subsystem] (id: 8);
}
root_type Status;