Add Extend Flatbuffers
Signed-off-by: Mirabel Wang <mirabel.17.wang@gmail.com>
Signed-off-by: Filip Kujawa <filip.j.kujawa@gmail.com>
Change-Id: I71c60a7d3e0018c6669f46d1d14e401e569dc61c
diff --git a/y2024/control_loops/superstructure/superstructure_goal.fbs b/y2024/control_loops/superstructure/superstructure_goal.fbs
index 6ec954f..4d46d1e 100644
--- a/y2024/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2024/control_loops/superstructure/superstructure_goal.fbs
@@ -48,6 +48,23 @@
altitude_position: frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 4);
}
+// Represents goal for extend
+// RETRACT is for retracting the extender to stowed position
+// In the retracted position, the game piece may be transfered to the catapult
+// AMP is for extending the extender to the AMP scoring position
+// TRAP is for extending the extender to the TRAP scoring position
+enum ExtendGoal : ubyte {
+ RETRACT = 0,
+ AMP = 1,
+ TRAP = 2,
+}
+
+enum ExtendRollerGoal : ubyte {
+ NONE = 0,
+ SCORING = 1,
+ REVERSING = 2,
+}
+
table Goal {
intake_roller_goal:IntakeRollerGoal (id: 0);
intake_pivot_goal:IntakePivotGoal (id: 1);
@@ -55,5 +72,7 @@
transfer_roller_goal:TransferRollerGoal (id: 3);
climber_goal:ClimberGoal (id: 4);
shooter_goal:ShooterGoal (id: 5);
+ extend_goal:ExtendGoal (id: 6);
+ extend_roller_goal:ExtendRollerGoal (id: 7);
}
root_type Goal;