Add end effector to superstructure
Add superstructure state machine for the end
effector, update flatbuffers to match, and send to
status.
Signed-off-by: Nathan Leong <nathanrleong@gmail.com>
Change-Id: I7f0c60f05a147ba6b3aec1e3488855c8e674c670
diff --git a/y2023/constants.h b/y2023/constants.h
index 598a7d3..3c9c4be 100644
--- a/y2023/constants.h
+++ b/y2023/constants.h
@@ -142,6 +142,17 @@
// Rollers
static constexpr double kRollerSupplyCurrentLimit() { return 30.0; }
static constexpr double kRollerStatorCurrentLimit() { return 60.0; }
+ static constexpr double kRollerVoltage() { return 12.0; }
+
+ // Game object is fed into end effector for at least this time
+ static constexpr std::chrono::milliseconds kExtraIntakingTime() {
+ return std::chrono::seconds(2);
+ }
+
+ // Game object is spit from end effector for at least this time
+ static constexpr std::chrono::milliseconds kExtraSpittingTime() {
+ return std::chrono::seconds(2);
+ }
struct PotConstants {
::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemParams<