Add arm code to 2023
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: If97b4dd4c8fb16371e21ac6e9667a2d52b1b53a6
diff --git a/y2023/control_loops/superstructure/superstructure_position.fbs b/y2023/control_loops/superstructure/superstructure_position.fbs
index dc3679d..1c8c0e9 100644
--- a/y2023/control_loops/superstructure/superstructure_position.fbs
+++ b/y2023/control_loops/superstructure/superstructure_position.fbs
@@ -2,22 +2,26 @@
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);
+table ArmPosition {
+ // Values of the encoder and potentiometer at the base of the proximal
+ // (connected to drivebase) arm in radians.
+ 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);
+ // Values of the encoder and potentiometer at the base of the distal
+ // (connected to proximal) arm in radians.
+ distal:frc971.PotAndAbsolutePosition (id: 1);
+}
+
+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: 2);
+ roll_joint:frc971.PotAndAbsolutePosition (id: 1);
// Zero for wrist is facing staright outward.
// Positive position would be upwards
- wrist:frc971.PotAndAbsolutePosition (id: 3);
+ wrist:frc971.PotAndAbsolutePosition (id: 2);
}
root_type Position;