Remove Encoder from Climber
Signed-off-by: Niko Sohmers <nikolai@sohmers.com>
Change-Id: Ia219b303a500c46fdd72aad592053fe81e807f2b
diff --git a/y2024/control_loops/superstructure/superstructure_goal.fbs b/y2024/control_loops/superstructure/superstructure_goal.fbs
index abfd405..c217bcc 100644
--- a/y2024/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2024/control_loops/superstructure/superstructure_goal.fbs
@@ -60,13 +60,23 @@
table Goal {
intake_goal:IntakeGoal = NONE (id: 0);
intake_pivot:IntakePivotGoal = UP (id: 5);
+
+ // Deprecated since climber no longer has an encoder
climber_goal:ClimberGoal (id: 1);
+
+ // Voltage we want to give to climber
+ // Positive voltage is for climber up
+ // Negative voltage is for climber down
+ climber_goal_voltage:double = 0.0 (id: 8);
+
shooter_goal:ShooterGoal (id: 2);
note_goal:NoteGoal (id: 3);
fire: bool (id: 4);
// Tells the climber to go absurdly slow on FULL_EXTEND
- slow_climber: bool = false (id: 6);
+ // Deprecated now because we take care of this through
+ // climber_goal_voltage
+ slow_climber: bool = false (id: 6, deprecated);
// Spit on the extend motors
spit_extend: bool = false (id: 7);