Added flatbuffer messages for intake and 4-bar.
Change-Id: I2b9523a46d973cca41b578e525d449c1d348c0b0
diff --git a/y2020/control_loops/superstructure/superstructure_goal.fbs b/y2020/control_loops/superstructure/superstructure_goal.fbs
index 5953590..c1b3b5a 100644
--- a/y2020/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2020/control_loops/superstructure/superstructure_goal.fbs
@@ -5,6 +5,12 @@
table Goal {
// Zero is at the horizontal, positive towards the front (meters on the lead screw).
hood:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal;
+
+ //0 = Linkage on sprocket is pointing straight up
+ //Positive = forward
+ intake:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal;
+ //Positive is rollers intaking to Washing Machine.
+ roller_voltage:float;
}
root_type Goal;
diff --git a/y2020/control_loops/superstructure/superstructure_output.fbs b/y2020/control_loops/superstructure/superstructure_output.fbs
index e245712..e887cf5 100644
--- a/y2020/control_loops/superstructure/superstructure_output.fbs
+++ b/y2020/control_loops/superstructure/superstructure_output.fbs
@@ -3,6 +3,12 @@
table Output {
// Votage sent to the hood. Positive moves up.
hood_voltage:double;
+
+ // Voltage sent to motors on intake joint. Positive extends rollers.
+ intake_joint_voltage:double;
+
+ // Voltage sent to rollers on intake. Positive rolls inward.
+ intake_roller_voltage:double;
}
root_type Output;
diff --git a/y2020/control_loops/superstructure/superstructure_position.fbs b/y2020/control_loops/superstructure/superstructure_position.fbs
index 50b9c36..62754df 100644
--- a/y2020/control_loops/superstructure/superstructure_position.fbs
+++ b/y2020/control_loops/superstructure/superstructure_position.fbs
@@ -3,9 +3,11 @@
namespace y2020.control_loops.superstructure;
table Position {
-
// Zero is at the horizontal, positive towards the front (meters on the lead screw).
hood:frc971.AbsolutePosition;
+
+ // Position of the intake. 0 when four-bar is vertical, positive extended.
+ intake_joint:frc971.AbsolutePosition;
}
root_type Position;
diff --git a/y2020/control_loops/superstructure/superstructure_status.fbs b/y2020/control_loops/superstructure/superstructure_status.fbs
index 8c29e23..a230528 100644
--- a/y2020/control_loops/superstructure/superstructure_status.fbs
+++ b/y2020/control_loops/superstructure/superstructure_status.fbs
@@ -12,6 +12,7 @@
//Subsystem status.
hood:frc971.control_loops.AbsoluteEncoderProfiledJointStatus;
+ intake:frc971.control_loops.AbsoluteEncoderProfiledJointStatus;
}
root_type Status;