Add shooter setpoints to constants
Signed-off-by: Filip Kujawa <filip.j.kujawa@gmail.com>
Change-Id: I3bf8d22426e805da98d14c6497f3a01631a4a741
diff --git a/y2024/constants/common.json b/y2024/constants/common.json
index 5289827..4c93ebd 100644
--- a/y2024/constants/common.json
+++ b/y2024/constants/common.json
@@ -216,6 +216,17 @@
"retaining": 1.5,
"spitting": -6.0
},
+ // TODO(Filip): Update the speaker and amp shooter setpoints
+ "shooter_speaker_set_point": {
+ "turret_position": 0.0,
+ "altitude_position": 0.0,
+ "shot_velocity": 0.0
+ },
+ "shooter_podium_set_point":{
+ "turret_position": 0.0,
+ "altitude_position": 0.0,
+ "shot_velocity": 0.0
+ },
"extend_set_points": {
"trap": 0.2,
"amp": 0.3,
diff --git a/y2024/constants/constants.fbs b/y2024/constants/constants.fbs
index 6785e65..3c1f409 100644
--- a/y2024/constants/constants.fbs
+++ b/y2024/constants/constants.fbs
@@ -116,6 +116,12 @@
extend_constants:PotAndAbsEncoderConstants (id: 5);
}
+table ShooterSetPoint {
+ turret_position: double (id: 0);
+ altitude_position: double (id: 1);
+ shot_velocity:double (id: 2);
+}
+
table Pose {
// Pos is a 3x1 matrix which contains the (x, y, z) component of the Pose.
pos: frc971.fbs.Matrix (id: 0);
@@ -151,15 +157,17 @@
altitude:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemCommonParams (id: 13);
turret:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemCommonParams (id: 14);
extend:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemCommonParams (id: 15);
- extend_set_points:ExtendSetPoints (id: 16);
- extend_roller_voltages:ExtendRollerVoltages (id: 17);
- shooter_targets:ShooterTargets (id: 18);
- altitude_loading_position: double (id: 19);
- retention_roller_voltages:RetentionRollerVoltages (id: 20);
- min_altitude_shooting_angle: double (id: 21);
+ extend_roller_voltages:ExtendRollerVoltages (id: 16);
+ shooter_targets:ShooterTargets (id: 17);
+ altitude_loading_position: double (id: 18);
+ retention_roller_voltages:RetentionRollerVoltages (id: 19);
+ min_altitude_shooting_angle: double (id: 20);
+ shooter_speaker_set_point: ShooterSetPoint (id: 21);
+ shooter_podium_set_point: ShooterSetPoint (id: 22);
+ extend_set_points:ExtendSetPoints (id: 23);
// The position to move the turret to when avoiding collision
// with the extend when the extend is moving to amp/trap position.
- turret_avoid_extend_collision_position: double (id: 22);
+ turret_avoid_extend_collision_position: double (id: 24);
}
table Constants {