Add targets for the turret aiming to shoot at
This adds a basic aiming algorithm that aims at the 3-point shot when we
think it can make it, and a 2-point shot otherwise.
Note: This also formalizes the fact that we are using the origin that is
defined by sift.fbs this year.
Change-Id: I04de0d01e2596bfa75226c6ac00af1d1d08d487f
diff --git a/y2020/control_loops/superstructure/superstructure_status.fbs b/y2020/control_loops/superstructure/superstructure_status.fbs
index 61208da..5ae287c 100644
--- a/y2020/control_loops/superstructure/superstructure_status.fbs
+++ b/y2020/control_loops/superstructure/superstructure_status.fbs
@@ -31,6 +31,8 @@
turret_position:double;
// The current goal velocity for the turret, in radians / sec.
turret_velocity:double;
+ // Whether we are currently aiming for the inner port.
+ aiming_for_inner_port:bool;
}
table Status {