Add y2024 intake constants
Signed-off-by: Niko Sohmers <nikolai@sohmers.com>
Change-Id: I41914cb76b7d3f79b7d9a0f0f2bab1632fa583be
diff --git a/y2024/constants/constants.fbs b/y2024/constants/constants.fbs
index 490bc99..52a54bb 100644
--- a/y2024/constants/constants.fbs
+++ b/y2024/constants/constants.fbs
@@ -1,4 +1,6 @@
include "frc971/vision/target_map.fbs";
+include "frc971/control_loops/profiled_subsystem.fbs";
+include "frc971/zeroing/constants.fbs";
namespace y2024;
@@ -12,14 +14,44 @@
shot_params: ShotParams (id: 1);
}
-table RobotConstants {
+// Amount of voltage to give to the intake rollers when:
+// spitting, which represents voltage when IntakeRollerGoal is SPITTING
+// and intaking, which represents voltage when IntakeRollerGoal is INTAKING
+table IntakeRollerVoltages {
+ spitting:double (id: 0);
+ intaking:double (id: 1);
+}
+// Set points for the pivot in radians when:
+// extended, which represents radians for when IntakePivotGoal is EXTENDED
+// and retracted, which represents radians for when IntakePivotGoal is RETRACTED or NONE
+table IntakePivotSetPoints {
+ extended:double (id: 0);
+ retracted:double (id: 1);
+}
+
+// Intake Constants
+table IntakeConstants {
+ intake_pivot_zero:frc971.zeroing.PotAndAbsoluteEncoderZeroingConstants (id: 0);
+ potentiometer_offset:double (id: 1);
+}
+
+table RobotConstants {
+ intake_constants:IntakeConstants (id: 0);
+}
+
+// Common table for constants unrelated to the robot
+table Common {
+ target_map:frc971.vision.TargetMap (id: 0);
+ shooter_interpolation_table: [InterpolationTablePoint] (id: 1);
+ intake_roller_voltages:IntakeRollerVoltages (id : 2);
+ intake_pivot_set_points:IntakePivotSetPoints (id: 3);
+ intake_pivot:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemCommonParams (id: 4);
}
table Constants {
- target_map:frc971.vision.TargetMap (id: 0);
- robot:RobotConstants (id: 1);
- shooter_interpolation_table: [InterpolationTablePoint] (id: 2);
+ robot:RobotConstants (id: 0);
+ common:Common (id: 1);
}
-root_type Constants;
+root_type Constants;
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