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_output.fbs b/y2022/control_loops/superstructure/superstructure_output.fbs
index 7fa390f..aecc090 100644
--- a/y2022/control_loops/superstructure/superstructure_output.fbs
+++ b/y2022/control_loops/superstructure/superstructure_output.fbs
@@ -1,18 +1,28 @@
namespace y2022.control_loops.superstructure;
table Output {
- // Voltage of the climber falcon
- // - is down + is up
- climber_voltage:double (id: 0);
+ // Voltage of the climber falcon
+ // - is down + is up
+ climber_voltage:double (id: 0);
- // Voltage of the catapult falcon
- // Positive lifts the catapult to fire.
- catapult_voltage:double (id: 1);
+ // Voltage of the catapult falcon
+ // Positive lifts the catapult to fire.
+ catapult_voltage:double (id: 1);
- // Voltage of the turret falcon
- // Positive rotates the turret around the Z axis (up) according to the
- // right hand rule.
- turret_voltage:double (id: 2);
+ // Voltage of the turret falcon
+ // Positive rotates the turret around the Z axis (up) according to the
+ // right hand rule.
+ turret_voltage:double (id: 2);
+
+ // Intake joint voltages.
+ intake_voltage_front:double (id: 3);
+ intake_voltage_back:double (id: 4);
+
+ // Intake roller voltages
+ roller_voltage_front:double (id: 5);
+ roller_voltage_back:double (id: 6);
+ // One transfer motor for both sides
+ transfer_roller_voltage:double (id: 7);
}
root_type Output;