Expose More Internal Superstructure State in Status Message
Signed-off-by: Niko Sohmers <nikolai@sohmers.com>
Change-Id: I17aaff27e8bf5b70d39734040506c7b4bbe61b10
diff --git a/y2024/control_loops/superstructure/superstructure_status.fbs b/y2024/control_loops/superstructure/superstructure_status.fbs
index 0420c26..8d6b14f 100644
--- a/y2024/control_loops/superstructure/superstructure_status.fbs
+++ b/y2024/control_loops/superstructure/superstructure_status.fbs
@@ -157,6 +157,23 @@
turret_ready_for_extend_move:bool (id: 13, deprecated);
uncompleted_note_goal:NoteStatus = NONE (id: 14);
+
+ // Indicates if the extend is close enough to the retracted position to be
+ // considered ready to accept note from the transfer rollers.
+ extend_at_retracted:bool (id: 15);
+
+ // Indicates if the turret is at the position to accept the note from extend
+ turret_ready_for_load:bool (id: 16);
+
+ // Indicates if the altitude is at the position to accept the note from
+ // extend
+ altitude_ready_for_load:bool (id: 17);
+
+ // Indicates if the extend is at the position to load the catapult
+ extend_ready_for_catapult_transfer:bool (id: 18);
+
+ extend_beambreak:bool (id: 19);
+ catapult_beambreak:bool (id: 20);
}
root_type Status;