Add second transfer roller motor
Still use same behavior of always sending opposite voltages
Signed-off-by: Milind Upadhyay <milind.upadhyay@gmail.com>
Change-Id: If6bcf617db37b40924556d59dcfa23e7d43bdef1
diff --git a/y2022/control_loops/superstructure/superstructure_goal.fbs b/y2022/control_loops/superstructure/superstructure_goal.fbs
index c86f338..6266b3c 100644
--- a/y2022/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2022/control_loops/superstructure/superstructure_goal.fbs
@@ -28,8 +28,8 @@
// Positive is rollers intaking.
roller_speed_front:double (id: 3);
roller_speed_back:double (id: 4);
- // One transfer motor for both sides
- transfer_roller_speed:double (id: 5);
+ transfer_roller_speed_front:double (id: 5);
+ transfer_roller_speed_back:double (id: 12);
// Factor to multiply robot velocity by and add to roller voltage.
roller_speed_compensation:double (id: 6);