Add superstructure flatbuffers
Signed-off-by: Nikita Narang <nikitanarang123@gmail.com>
Change-Id: I96892548b6dfdc0437357b964a14d79d7510b08b
diff --git a/y2023/control_loops/superstructure/superstructure_position.fbs b/y2023/control_loops/superstructure/superstructure_position.fbs
index 49abd28..dc3679d 100644
--- a/y2023/control_loops/superstructure/superstructure_position.fbs
+++ b/y2023/control_loops/superstructure/superstructure_position.fbs
@@ -3,6 +3,21 @@
namespace y2023.control_loops.superstructure;
table Position {
+ // Zero for proximal is facing parallel to base of robot
+ // Positive position would be rotated upwards
+ proximal:frc971.PotAndAbsolutePosition (id: 0);
+
+ // Zero for distal is facing parallel relative to the shoulder
+ // Positive position would be rotated upwards
+ 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);
+
+ // Zero for wrist is facing staright outward.
+ // Positive position would be upwards
+ wrist:frc971.PotAndAbsolutePosition (id: 3);
}
root_type Position;