Add intake flatbuffers
Signed-off-by: Aryan Khanna <aryankhanna0312@gmail.com>
Change-Id: I518b5e073abb92868b5e7b8a4fe6971e774c8b21
diff --git a/y2024/control_loops/superstructure/superstructure_status.fbs b/y2024/control_loops/superstructure/superstructure_status.fbs
index 7e8cc27..98134bd 100644
--- a/y2024/control_loops/superstructure/superstructure_status.fbs
+++ b/y2024/control_loops/superstructure/superstructure_status.fbs
@@ -3,12 +3,25 @@
namespace y2024.control_loops.superstructure;
+// Contains if intake is intaking
+enum IntakeRollerState : ubyte {
+ NONE = 0,
+ SPITTING = 1,
+ INTAKING = 2,
+}
+
table Status {
// All subsystems know their location.
zeroed:bool (id: 0);
// If true, we have aborted. This is the or of all subsystem estops.
estopped:bool (id: 1);
+
+ // State of the rollers
+ intake_roller_state:IntakeRollerState (id: 2);
+
+ // Estimated angle and angular velocitiy of the intake.
+ intake_pivot_state:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus (id: 3);
}
root_type Status;