Add motors and sensors to 2023 wpilib interface
Signed-off-by: Logan Isaacson <100030671@mvla.net>
Change-Id: I8ff6a349ef84c206aca97ca48c0c6b7944080b44
diff --git a/y2023/control_loops/superstructure/superstructure_position.fbs b/y2023/control_loops/superstructure/superstructure_position.fbs
index 1c8c0e9..8549943 100644
--- a/y2023/control_loops/superstructure/superstructure_position.fbs
+++ b/y2023/control_loops/superstructure/superstructure_position.fbs
@@ -5,10 +5,12 @@
table ArmPosition {
// Values of the encoder and potentiometer at the base of the proximal
// (connected to drivebase) arm in radians.
+ // Zero is upwards, positive is a forwards rotation
proximal:frc971.PotAndAbsolutePosition (id: 0);
// Values of the encoder and potentiometer at the base of the distal
// (connected to proximal) arm in radians.
+ // Zero is straight up, positive is a forwards rotation
distal:frc971.PotAndAbsolutePosition (id: 1);
}
@@ -21,7 +23,7 @@
// Zero for wrist is facing staright outward.
// Positive position would be upwards
- wrist:frc971.PotAndAbsolutePosition (id: 2);
+ wrist:frc971.AbsolutePosition (id: 2);
}
root_type Position;