commit 589cf273abed419c88e405916990f745963ee39c
author Maxwell Henderson <mxwhenderson@gmail.com> Wed Feb 22 15:56:40 2023 -0800
committer Maxwell Henderson <mxwhenderson@gmail.com> Thu Feb 23 20:39:44 2023 -0800
tree 935fa9a346549f96cec566927880b534eca0ec2a
parent 65d2f7287683c756b17da3b0b605483ecf3af2fa

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

y2023/control_loops/superstructure/superstructure.h

diff --git a/y2023/control_loops/superstructure/superstructure.h b/y2023/control_loops/superstructure/superstructure.h
index 2d0fc43..d8f3d59 100644
--- a/y2023/control_loops/superstructure/superstructure.h
+++ b/y2023/control_loops/superstructure/superstructure.h
@@ -6,6 +6,7 @@
 #include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
 #include "y2023/constants.h"
 #include "y2023/control_loops/superstructure/arm/arm.h"
+#include "y2023/control_loops/superstructure/end_effector.h"
 #include "y2023/control_loops/superstructure/superstructure_goal_generated.h"
 #include "y2023/control_loops/superstructure/superstructure_output_generated.h"
 #include "y2023/control_loops/superstructure/superstructure_position_generated.h"
@@ -47,6 +48,7 @@
   aos::Fetcher<aos::JoystickState> joystick_state_fetcher_;
 
   arm::Arm arm_;
+  EndEffector end_effector_;
 
   aos::Alliance alliance_ = aos::Alliance::kInvalid;