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/control_loops/superstructure/superstructure_position.fbs b/y2023/control_loops/superstructure/superstructure_position.fbs
index bd3d607..927fe10 100644
--- a/y2023/control_loops/superstructure/superstructure_position.fbs
+++ b/y2023/control_loops/superstructure/superstructure_position.fbs
@@ -24,6 +24,12 @@
// Zero for wrist is facing staright outward.
// Positive position would be upwards
wrist:frc971.AbsolutePosition (id: 1);
+
+ // If this is true, the cone beam break is triggered.
+ end_effector_cone_beam_break:bool (id: 2);
+
+ // If this is true, the cube beam break is triggered.
+ end_effector_cube_beam_break:bool (id: 3);
}
root_type Position;