Lock-in decision on trap/amp when moving extend
Signed-off-by: Niko Sohmers <nikolai@sohmers.com>
Change-Id: I2db1875b8816b742e8fe03f88ba33d0f8baa7512
diff --git a/y2024/control_loops/superstructure/superstructure_status.fbs b/y2024/control_loops/superstructure/superstructure_status.fbs
index cd3e65b..0420c26 100644
--- a/y2024/control_loops/superstructure/superstructure_status.fbs
+++ b/y2024/control_loops/superstructure/superstructure_status.fbs
@@ -54,6 +54,15 @@
shot_distance:double (id: 3);
}
+// Enum representing where the superstructure
+// is currently trying to send the note.
+enum NoteStatus : ubyte {
+ NONE = 0,
+ CATAPULT = 1,
+ AMP = 2,
+ TRAP = 3,
+}
+
table ShooterStatus {
// Estimated angle and angular velocitiy of the turret.
turret:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus (id: 0);
@@ -145,7 +154,9 @@
extend_ready_for_transfer:bool (id: 12);
// Indicates that the turret is in position to avoid the extend.
- turret_ready_for_extend_move:bool (id: 13);
+ turret_ready_for_extend_move:bool (id: 13, deprecated);
+
+ uncompleted_note_goal:NoteStatus = NONE (id: 14);
}
root_type Status;