Filling out the status, goal and output messages for the 3rd robot
Signed-off-by: Sabina Leaver <100027607@mvla.net>
Change-Id: I12cd65c2f6056a0dad698da31c22f6156b9a9299
Signed-off-by: Sabina Leaver <100027607@mvla.net>
diff --git a/y2021_bot3/control_loops/superstructure/superstructure_goal.fbs b/y2021_bot3/control_loops/superstructure/superstructure_goal.fbs
index c016cad..718edca 100644
--- a/y2021_bot3/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2021_bot3/control_loops/superstructure/superstructure_goal.fbs
@@ -3,6 +3,13 @@
namespace y2021_bot3.control_loops.superstructure;
table Goal {
+ // Intake speed for the intake, positive number pulls balls into the robot
+ intake_speed:double (id:0);
+
+ // Outtake speed for the outtake roller, positive number means it is outtaking balls
+ outtake_speed:double (id:1);
+
+ // TODO: Add climber
}
diff --git a/y2021_bot3/control_loops/superstructure/superstructure_output.fbs b/y2021_bot3/control_loops/superstructure/superstructure_output.fbs
index 88bdf2f..47b9476 100644
--- a/y2021_bot3/control_loops/superstructure/superstructure_output.fbs
+++ b/y2021_bot3/control_loops/superstructure/superstructure_output.fbs
@@ -1,6 +1,13 @@
namespace y2021_bot3.control_loops.superstructure;
table Output {
+ // Voltage for intake motor, positive number is intaking balls
+ intake_volts:double (id:0);
+
+ // Voltage for outtake motor, positive number is outtaking balls
+ outtake_volts:double (id:1);
+
+ // TODO: Add climber
}
diff --git a/y2021_bot3/control_loops/superstructure/superstructure_status.fbs b/y2021_bot3/control_loops/superstructure/superstructure_status.fbs
index e615c62..4f94e76 100644
--- a/y2021_bot3/control_loops/superstructure/superstructure_status.fbs
+++ b/y2021_bot3/control_loops/superstructure/superstructure_status.fbs
@@ -10,6 +10,13 @@
// If true, we have aborted. This is the or of all subsystem estops.
estopped:bool (id: 1);
+ // Intake speed for the intake, positive number means it is intaking balls
+ intake_speed:double (id:2);
+
+ // Outtake speed for the outtake roller, positive number outtakes balls
+ outtake_speed:double (id:3);
+
+ // TODO: Add climber
}
root_type Status;