Add 2022 climber code
superstructure & wpilib climber code changes made in SuperstructureWriter & Sensor reader
Signed-off-by: Griffin Bui <griffinbui+gerrit@gmail.com>
Change-Id: I5d28db16beb324d8a260e6dc042f54f97c5cdfa3
diff --git a/y2022/control_loops/superstructure/superstructure.cc b/y2022/control_loops/superstructure/superstructure.cc
index e985779..b2c89d1 100644
--- a/y2022/control_loops/superstructure/superstructure.cc
+++ b/y2022/control_loops/superstructure/superstructure.cc
@@ -26,7 +26,7 @@
if (output != nullptr && unsafe_goal != nullptr) {
OutputT output_struct;
-
+ output_struct.climber_voltage = unsafe_goal->climber_speed();
output->CheckOk(output->Send(Output::Pack(*output->fbb(), &output_struct)));
}
@@ -36,8 +36,8 @@
status_builder.add_estopped(false);
if (unsafe_goal != nullptr) {
+ status_builder.add_climber_speed(unsafe_goal->climber_speed());
}
-
(void)status->Send(status_builder.Finish());
}
diff --git a/y2022/control_loops/superstructure/superstructure_goal.fbs b/y2022/control_loops/superstructure/superstructure_goal.fbs
index 439c0fb..3e0679e 100644
--- a/y2022/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2022/control_loops/superstructure/superstructure_goal.fbs
@@ -3,7 +3,9 @@
namespace y2022.control_loops.superstructure;
table Goal {
-
+ // Voltage of the climber falcon
+ // - is down + is up
+ climber_speed:double (id: 0);
}
root_type Goal;
diff --git a/y2022/control_loops/superstructure/superstructure_output.fbs b/y2022/control_loops/superstructure/superstructure_output.fbs
index e95fbe3..78b2c01 100644
--- a/y2022/control_loops/superstructure/superstructure_output.fbs
+++ b/y2022/control_loops/superstructure/superstructure_output.fbs
@@ -1,7 +1,9 @@
namespace y2022.control_loops.superstructure;
table Output {
-
+ // Voltage of the climber falcon
+ // - is down + is up
+ climber_voltage:double (id: 0);
}
root_type Output;
diff --git a/y2022/control_loops/superstructure/superstructure_status.fbs b/y2022/control_loops/superstructure/superstructure_status.fbs
index deff2f6..5f8cdc3 100644
--- a/y2022/control_loops/superstructure/superstructure_status.fbs
+++ b/y2022/control_loops/superstructure/superstructure_status.fbs
@@ -9,6 +9,10 @@
// If true, we have aborted. This is the or of all subsystem estops.
estopped:bool (id: 1);
+
+ // Goal voltage of the climber falcon
+ // - is down + is up
+ climber_speed:double (id: 2);
}
root_type Status;
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