Add 2022 aimer to superstructure
Change-Id: I1ae24de0ed43d73578dabc63a9c9efc79c904552
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2022/control_loops/superstructure/superstructure_status.fbs b/y2022/control_loops/superstructure/superstructure_status.fbs
index c74cbab..1005c46 100644
--- a/y2022/control_loops/superstructure/superstructure_status.fbs
+++ b/y2022/control_loops/superstructure/superstructure_status.fbs
@@ -25,6 +25,18 @@
SHOOTING,
}
+table AimerStatus {
+ // The current goal angle for the turret auto-tracking, in radians.
+ turret_position:double (id: 0);
+ // The current goal velocity for the turret, in radians / sec.
+ turret_velocity:double (id: 1);
+ // The current distance to the target, in meters.
+ target_distance:double (id: 2);
+ // 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);
+}
+
table Status {
// All subsystems know their location.
zeroed:bool (id: 0);
@@ -61,6 +73,8 @@
// The number of shots we have taken.
shot_count:int32 (id: 9);
+
+ aimer:AimerStatus (id: 15);
}
root_type Status;