Combine intake and spit in superstructure goal
With how the superstructure goal worked before there could be a goal to
both intake and spit. So I moved them into an enum with an IDLE state
if its not intaking or spitting.
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: I51d893a9f62a8a0b9621f89ca01da91f4b9491d1
diff --git a/y2023/control_loops/superstructure/superstructure_goal.fbs b/y2023/control_loops/superstructure/superstructure_goal.fbs
index 936cbee..8f2d5ab 100644
--- a/y2023/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2023/control_loops/superstructure/superstructure_goal.fbs
@@ -2,6 +2,11 @@
namespace y2023.control_loops.superstructure;
+enum RollerGoal: ubyte {
+ IDLE = 0,
+ INTAKE = 1,
+ SPIT = 2,
+}
table Goal {
// Used to identify a position in the planned set of positions on the arm.
@@ -13,11 +18,7 @@
wrist:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 2);
- // If this is true, the rollers should intake.
- intake:bool (id: 3);
-
- // If this is true, the rollers should spit.
- spit:bool (id: 4);
+ roller_goal:RollerGoal (id: 3);
}