Add intake and turret code plus superstructure tests
Signed-off-by: Milo Lin <100027790@mvla.net>
Change-Id: I9885bd1e839ba0356147606415ae915cd295faf6
Change-Id: I33bc83673645869e255136198c0789f722c881a0
Signed-off-by: Siddhartha Chatterjee <ninja.siddhartha@gmail.com>
Signed-off-by: Griffin Bui <griffinbui+gerrit@gmail.com>
Signed-off-by: Henry Speiser <henry@speiser.net>
diff --git a/y2022/control_loops/superstructure/superstructure_goal.fbs b/y2022/control_loops/superstructure/superstructure_goal.fbs
index 8107363..37e63b5 100644
--- a/y2022/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2022/control_loops/superstructure/superstructure_goal.fbs
@@ -5,6 +5,22 @@
table Goal {
// Height of the climber above rest point
climber:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 0);
+
+ // Goal angles of intake joints.
+ // Positive is out, 0 is up.
+ intake_front:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 1);
+ intake_back:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 2);
+
+ // Positive is rollers intaking.
+ roller_speed_front:double (id: 3);
+ roller_speed_back:double (id: 4);
+ // One transfer motor for both sides
+ transfer_roller_speed:double (id: 5);
+
+ // Factor to multiply robot velocity by and add to roller voltage.
+ roller_speed_compensation:double (id: 6);
+
+ turret:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 7);
}
root_type Goal;