Add superstructure flatbuffers
Signed-off-by: Nikita Narang <nikitanarang123@gmail.com>
Change-Id: I96892548b6dfdc0437357b964a14d79d7510b08b
diff --git a/y2023/control_loops/superstructure/superstructure_goal.fbs b/y2023/control_loops/superstructure/superstructure_goal.fbs
index 412abbd..47ce7b2 100644
--- a/y2023/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2023/control_loops/superstructure/superstructure_goal.fbs
@@ -4,6 +4,17 @@
table Goal {
+ // Used to identify a position in the planned set of positions on the arm.
+ // Controls distal, proximal, and roll joints
+ arm_goal_position:uint32 (id: 0);
+
+ wrist:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 1);
+
+ // If this is true, the rollers should intake.
+ intake:bool (id: 2);
+
+ // If this is true, the rollers should spit.
+ spit:bool (id: 3);
}