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_status.fbs b/y2024/control_loops/superstructure/superstructure_status.fbs
index ceed417..bda9bbf 100644
--- a/y2024/control_loops/superstructure/superstructure_status.fbs
+++ b/y2024/control_loops/superstructure/superstructure_status.fbs
@@ -4,7 +4,7 @@
namespace y2024.control_loops.superstructure;
// Contains if intake is intaking
-enum IntakeRollerState : ubyte {
+enum IntakeRollerStatus : ubyte {
NONE = 0,
SPITTING = 1,
INTAKING = 2,
@@ -21,24 +21,32 @@
table ShooterStatus {
// Estimated angle and angular velocitiy of the turret.
- turret_state:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus (id: 0);
+ turret:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus (id: 0);
// Estimated angle and angular velocitiy of the catapult.
- catapult_state:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus (id: 1);
+ catapult:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus (id: 1);
// Estimated angle and angular velocitiy of the altitude.
- altitude_state:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus (id: 2);
+ altitude:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus (id: 2);
- catapult_status: CatapultStatus (id: 3);
+ catapult_state: CatapultStatus (id: 3);
}
// Contains status of transfer rollers
-enum TransferRollerState : ubyte {
+enum TransferRollerStatus : ubyte {
NONE = 0,
TRANSFERING_IN = 1,
TRANSFERING_OUT = 2,
}
+// Contains status of extend rollers
+// HAS_GAME_PIECE means we have a game piece
+// EMPTY means we don't have a game piece
+enum ExtendRollerStatus: ubyte {
+ HAS_GAME_PIECE = 0,
+ EMPTY = 1
+}
+
table Status {
// All subsystems know their location.
zeroed:bool (id: 0);
@@ -46,20 +54,26 @@
// If true, we have aborted. This is the or of all subsystem estops.
estopped:bool (id: 1);
- // State of the rollers
- intake_roller_state:IntakeRollerState (id: 2);
+ // Status of the rollers
+ intake_roller:IntakeRollerStatus (id: 2);
// Estimated angle and angular velocitiy of the intake.
- intake_pivot_state:frc971.control_loops.AbsoluteEncoderProfiledJointStatus (id: 3);
+ intake_pivot:frc971.control_loops.AbsoluteEncoderProfiledJointStatus (id: 3);
- // State of transfer rollers
- transfer_roller_state:TransferRollerState (id: 4);
+ // Status of transfer rollers
+ transfer_roller:TransferRollerStatus (id: 4);
// Estimated angle and angular velocitiy of the climber.
- climber_state:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus (id: 5);
+ climber:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus (id: 5);
// Status of the subsytems involved in the shooter
- shooter_status:ShooterStatus (id: 6);
+ shooter:ShooterStatus (id: 6);
+
+ // Estimated angle and angular velocitiy of the extend.
+ extend:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus (id: 7);
+
+ // State of the extender rollers
+ extend_roller:ExtendRollerStatus (id: 8);
}
root_type Status;