Add Climber Constants
Signed-off-by: Filip Kujawa <filip.j.kujawa@gmail.com>
Change-Id: If56eca5a6b7a97ad6c0519d232086d7b0428c9d9
diff --git a/y2024/constants/constants.fbs b/y2024/constants/constants.fbs
index 4a40487..70bcd6d 100644
--- a/y2024/constants/constants.fbs
+++ b/y2024/constants/constants.fbs
@@ -36,9 +36,18 @@
retracted:double (id: 1);
}
-// Intake Constants
-table IntakeConstants {
- intake_pivot_zero:frc971.zeroing.PotAndAbsoluteEncoderZeroingConstants (id: 0);
+// Set points for the climber in meters when:
+// fully extended, which represents meters for when ClimberGoal is FULL_EXTEND
+// partially extended, which represents meters for when ClimberGoal is HALF_EXTEND
+// and retracted, which represents meters for when ClimberGoal is RETRACT
+table ClimberSetPoints {
+ full_extend:double (id: 0);
+ half_extend:double (id: 1);
+ retract:double (id: 2);
+}
+
+table PotAndAbsEncoderConstants {
+ zeroing_constants:frc971.zeroing.PotAndAbsoluteEncoderZeroingConstants (id: 0);
potentiometer_offset:double (id: 1);
}
@@ -60,7 +69,9 @@
}
table RobotConstants {
- intake_constants:IntakeConstants (id: 0);
+ intake_constants:PotAndAbsEncoderConstants (id: 0);
+ climber_constants:PotAndAbsEncoderConstants (id: 1);
+
}
// Common table for constants unrelated to the robot
@@ -73,6 +84,8 @@
drivetrain:frc971.control_loops.drivetrain.fbs.DrivetrainConfig (id: 5);
current_limits:CurrentLimits (id: 6);
transfer_roller_voltages:TransferRollerVoltages (id: 7);
+ climber:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemCommonParams (id: 8);
+ climber_set_points:ClimberSetPoints (id: 9);
}
table Constants {