| commit | 1879accf27a9ab2e4b18e050eb444d49296c8098 | [log] [tgz] |
|---|---|---|
| author | Tyler Chatow <tchatow@gmail.com> | Sat Feb 01 13:26:48 2020 -0800 |
| committer | Tyler Chatow <tchatow@gmail.com> | Sun Feb 09 16:05:16 2020 -0800 |
| tree | 0e41f1418864336473072332151368794f718675 | |
| parent | 1ea25455aee6b35df42a25eb1aaa2ee585329255 [diff] |
Turret Messages Add Turret flat buffer messages to the main superstructure tables. Change-Id: I4390f59e3db9623af0cec1f330943595883b60f3
diff --git a/y2020/control_loops/superstructure/superstructure_goal.fbs b/y2020/control_loops/superstructure/superstructure_goal.fbs index c1b3b5a..d6693ca 100644 --- a/y2020/control_loops/superstructure/superstructure_goal.fbs +++ b/y2020/control_loops/superstructure/superstructure_goal.fbs
@@ -9,8 +9,14 @@ //0 = Linkage on sprocket is pointing straight up //Positive = forward intake:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal; + //Positive is rollers intaking to Washing Machine. roller_voltage:float; + + // 0 = facing the front of the robot. Positive rotates counterclockwise. + // TODO(Kai): Define which wrap of the shooter is 0 if it can rotate past + // forward more than once. + turret:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal; } root_type Goal;
diff --git a/y2020/control_loops/superstructure/superstructure_output.fbs b/y2020/control_loops/superstructure/superstructure_output.fbs index e887cf5..abb15dc 100644 --- a/y2020/control_loops/superstructure/superstructure_output.fbs +++ b/y2020/control_loops/superstructure/superstructure_output.fbs
@@ -9,6 +9,10 @@ // Voltage sent to rollers on intake. Positive rolls inward. intake_roller_voltage:double; + + //Voltage sent to the motors. + //Positive rotates counterclockwise from a birds eye view. + turret_voltage:double; } root_type Output;
diff --git a/y2020/control_loops/superstructure/superstructure_position.fbs b/y2020/control_loops/superstructure/superstructure_position.fbs index 62754df..aabcd43 100644 --- a/y2020/control_loops/superstructure/superstructure_position.fbs +++ b/y2020/control_loops/superstructure/superstructure_position.fbs
@@ -8,6 +8,9 @@ // Position of the intake. 0 when four-bar is vertical, positive extended. intake_joint:frc971.AbsolutePosition; + + // See goal for definition of 0 + turret:frc971.PotAndAbsolutePosition; } root_type Position;
diff --git a/y2020/control_loops/superstructure/superstructure_status.fbs b/y2020/control_loops/superstructure/superstructure_status.fbs index a230528..f231f17 100644 --- a/y2020/control_loops/superstructure/superstructure_status.fbs +++ b/y2020/control_loops/superstructure/superstructure_status.fbs
@@ -13,6 +13,7 @@ //Subsystem status. hood:frc971.control_loops.AbsoluteEncoderProfiledJointStatus; intake:frc971.control_loops.AbsoluteEncoderProfiledJointStatus; + turret:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus; } root_type Status;