Adjust shot angle offset depending on retention roller current
This is functionally disabled currently, as it always outputs the same
shot angle offset.
Change-Id: I7bc4b3bc0ba2779d00a3d3203e67e97748b759b1
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2024/control_loops/superstructure/superstructure_status.fbs b/y2024/control_loops/superstructure/superstructure_status.fbs
index 7a508dd..c73115f 100644
--- a/y2024/control_loops/superstructure/superstructure_status.fbs
+++ b/y2024/control_loops/superstructure/superstructure_status.fbs
@@ -52,6 +52,10 @@
// The current "shot distance." When shooting on the fly, this may be
// different from the static distance to the target.
shot_distance:double (id: 3);
+ // Estimate of the retention roller current.
+ note_current:double (id: 4);
+ // Turret offset applied due to retention roller current.
+ current_turret_offset:double (id: 5);
}
// Enum representing where the superstructure
@@ -140,7 +144,7 @@
transfer_roller:TransferRollerStatus (id: 5);
// Estimated angle and angular velocitiy of the climber.
- // Deprecated now because climber no longer has an encoder
+ // Deprecated now because climber no longer has an encoder
// and climber status is not used
climber:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus (id: 6, deprecated);