Add Extend Superstructure and State Machine
Signed-off-by: Filip Kujawa <filip.j.kujawa@gmail.com>
Change-Id: Id35e2156499384502275af306ff7042c7800d31f
diff --git a/y2024/constants/constants.fbs b/y2024/constants/constants.fbs
index df9a6fb..6785e65 100644
--- a/y2024/constants/constants.fbs
+++ b/y2024/constants/constants.fbs
@@ -97,8 +97,14 @@
// Extend positions
table ExtendSetPoints {
- extended:double (id: 0);
- retracted:double (id: 1);
+ // The position which lets us score on the trap.
+ trap:double (id: 0);
+ // The position which lets us score on the amp.
+ amp:double (id: 1);
+ // The position which lets us transfer into the catapult.
+ catapult:double (id: 2);
+ // The position near 0 where we are ready to intake a note.
+ retracted:double (id: 3);
}
table RobotConstants {
@@ -145,13 +151,15 @@
altitude:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemCommonParams (id: 13);
turret:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemCommonParams (id: 14);
extend:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemCommonParams (id: 15);
- extend_setpoints:ExtendSetPoints (id: 16);
+ extend_set_points:ExtendSetPoints (id: 16);
extend_roller_voltages:ExtendRollerVoltages (id: 17);
shooter_targets:ShooterTargets (id: 18);
altitude_loading_position: double (id: 19);
retention_roller_voltages:RetentionRollerVoltages (id: 20);
-
min_altitude_shooting_angle: double (id: 21);
+ // The position to move the turret to when avoiding collision
+ // with the extend when the extend is moving to amp/trap position.
+ turret_avoid_extend_collision_position: double (id: 22);
}
table Constants {