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;