Add roll joint to superstructure and arm UI
Arm UI changes:
- Update robot dimensions
- Support visualizing roll joint
- Add roll joint collision detection
Superstructure changes:
- Adding roll joint feedback loop and zeroing estimator
Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Change-Id: I422e343890248940bba98ba3cabac94e68723a3e
diff --git a/y2023/control_loops/superstructure/superstructure_position.fbs b/y2023/control_loops/superstructure/superstructure_position.fbs
index 8549943..bd3d607 100644
--- a/y2023/control_loops/superstructure/superstructure_position.fbs
+++ b/y2023/control_loops/superstructure/superstructure_position.fbs
@@ -12,18 +12,18 @@
// (connected to proximal) arm in radians.
// Zero is straight up, positive is a forwards rotation
distal:frc971.PotAndAbsolutePosition (id: 1);
+
+ // Zero for roll joint is up vertically
+ // Positive position would be rotated counterclockwise relative to the robot
+ roll_joint:frc971.PotAndAbsolutePosition (id: 2);
}
table Position {
arm:ArmPosition (id: 0);
- // Zero for roll joint is up vertically
- // Positive position would be rotated counterclockwise relative to the robot
- roll_joint:frc971.PotAndAbsolutePosition (id: 1);
-
// Zero for wrist is facing staright outward.
// Positive position would be upwards
- wrist:frc971.AbsolutePosition (id: 2);
+ wrist:frc971.AbsolutePosition (id: 1);
}
root_type Position;