Add superstructure flatbuffers
Signed-off-by: Nikita Narang <nikitanarang123@gmail.com>
Change-Id: I96892548b6dfdc0437357b964a14d79d7510b08b
diff --git a/y2023/control_loops/superstructure/superstructure_output.fbs b/y2023/control_loops/superstructure/superstructure_output.fbs
index 43de3d2..5ac0e38 100644
--- a/y2023/control_loops/superstructure/superstructure_output.fbs
+++ b/y2023/control_loops/superstructure/superstructure_output.fbs
@@ -1,6 +1,21 @@
namespace y2023.control_loops.superstructure;
table Output {
+ // Proximal arm voltage
+ proximal_voltage:double (id: 0);
+
+ // Distal arm voltage
+ distal_voltage:double (id: 1);
+
+ // roll_voltage for rolling joint
+ roll_joint_voltage:double (id: 2);
+
+ // Wrists rotate end effector rollers
+ // Wrist arm voltage
+ wrist_voltage:double (id: 3);
+
+ // Roller voltage on the end effector
+ roller_voltage:double (id: 4);
}
root_type Output;