Add control panel messages to superstructure
Change-Id: Iecf05ef8f872928364104f2df17af6e24e275a0d
diff --git a/y2020/control_loops/superstructure/superstructure_goal.fbs b/y2020/control_loops/superstructure/superstructure_goal.fbs
index 4b1d8e9..c655c82 100644
--- a/y2020/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2020/control_loops/superstructure/superstructure_goal.fbs
@@ -16,6 +16,10 @@
// Only applies if hood_tracking = false.
hood:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal;
+ // Positive = counterclockwise from above; rotates Wheel of Fortune clockwise
+ // Zero is relative to start.
+ control_panel:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal;
+
//0 = Linkage on sprocket is pointing straight up
//Positive = forward
intake:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal;
diff --git a/y2020/control_loops/superstructure/superstructure_output.fbs b/y2020/control_loops/superstructure/superstructure_output.fbs
index 9048b33..61b4e0a 100644
--- a/y2020/control_loops/superstructure/superstructure_output.fbs
+++ b/y2020/control_loops/superstructure/superstructure_output.fbs
@@ -28,6 +28,9 @@
// Voltage sent to the flywheel. Positive is shooting.
flywheel_voltage:double;
+
+ // Voltage sent to the motor driving the control panel. Positive is counterclockwise from above.
+ control_panel_voltage:double;
}
root_type Output;
diff --git a/y2020/control_loops/superstructure/superstructure_position.fbs b/y2020/control_loops/superstructure/superstructure_position.fbs
index ed73e52..25be42d 100644
--- a/y2020/control_loops/superstructure/superstructure_position.fbs
+++ b/y2020/control_loops/superstructure/superstructure_position.fbs
@@ -24,6 +24,9 @@
// Position of the kicker and flywheel
shooter:ShooterPosition;
+
+ // Position of the control panel, relative to start, positive counterclockwise from above.
+ control_panel:frc971.RelativePosition;
}
root_type Position;
diff --git a/y2020/control_loops/superstructure/superstructure_status.fbs b/y2020/control_loops/superstructure/superstructure_status.fbs
index 45dbba8..3dd2f2c 100644
--- a/y2020/control_loops/superstructure/superstructure_status.fbs
+++ b/y2020/control_loops/superstructure/superstructure_status.fbs
@@ -30,7 +30,7 @@
// All subsystems know their location.
zeroed:bool;
- // If true, we have aborted. This is the or of all subsystem estops.
+ // If true, we have aborted. This is if one or all subsystem estops.
estopped:bool;
//Subsystem status.
@@ -40,6 +40,9 @@
// Shooter subsystem status.
shooter:ShooterStatus;
+
+ // Status of the control_panel
+ control_panel:frc971.control_loops.RelativeEncoderProfiledJointStatus;
}
root_type Status;