Implement Joystick Reader
Reads the joystick input to set superstructure goal.
This patch also removes the HALF_EXTEND climber goal
because it is not used.
Signed-off-by: Alexander Yee <xander.yee@gmail.com>
Change-Id: I5b23ace0b255024cb1413c62c9306bc856f1fd8e
diff --git a/y2024/control_loops/superstructure/superstructure_goal.fbs b/y2024/control_loops/superstructure/superstructure_goal.fbs
index b346e97..f9dfcaa 100644
--- a/y2024/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2024/control_loops/superstructure/superstructure_goal.fbs
@@ -14,16 +14,16 @@
// Represents goal for climber
// FULL_EXTEND is for fully extending the climber
-// HALF_EXTEND is for partially extending the climber
// RETRACT is for retracting the climber
enum ClimberGoal : ubyte {
FULL_EXTEND = 0,
- HALF_EXTEND = 1,
- RETRACT = 2,
+ RETRACT = 1,
}
table ShooterGoal {
catapult_goal:frc971.control_loops.catapult.CatapultGoal (id: 0);
+
+ // If true we ignore the other provided positions
auto_aim: bool (id: 1);
// Position for the turret when we aren't auto aiming
@@ -32,11 +32,11 @@
// Position for the altitude when we aren't auto aiming
altitude_position: frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 3);
- // If true, we started with the ball loaded and should proceed to that state.
+ // If true, we started with the ball loaded and should proceed to that state.
preloaded:bool = false (id: 4);
}
-// Represents goal for the note movement through the robot
+// Represents goal for the note movement through the robot
// to various scoring positions
// NONE represents no goal for the note
// AMP represents the goal to move the note and the extend to the AMP scoring position
@@ -53,10 +53,9 @@
table Goal {
intake_goal:IntakeGoal = NONE (id: 0);
- catapult_goal:frc971.control_loops.catapult.CatapultGoal (id: 1);
- climber_goal:ClimberGoal (id: 2);
- shooter_goal:ShooterGoal (id: 3);
- note_goal:NoteGoal (id: 4);
- fire: bool (id: 5);
+ climber_goal:ClimberGoal (id: 1);
+ shooter_goal:ShooterGoal (id: 2);
+ note_goal:NoteGoal (id: 3);
+ fire: bool (id: 4);
}
root_type Goal;