Add shooter flatbuffers
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: I2e5afb2c8483b15454422fbd664221326f21709c
diff --git a/y2024/control_loops/superstructure/superstructure_goal.fbs b/y2024/control_loops/superstructure/superstructure_goal.fbs
index 25fc8ca..c00c70e 100644
--- a/y2024/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2024/control_loops/superstructure/superstructure_goal.fbs
@@ -12,12 +12,24 @@
// Represents goal for pivot on intake
enum IntakePivotGoal : ubyte {
EXTENDED = 0,
- RETRACTED = 1,
+ RETRACTED = 1,
+}
+
+table CatapultGoal {
+ // The target shot position and velocity. If these are provided before fire
+ // is called, the optimizer can pre-compute the trajectory.
+ shot_position: double (id: 0);
+ shot_velocity: double (id: 1);
+
+ // Return position of the catapult
+ return_position: double (id: 2);
}
table Goal {
intake_roller_goal:IntakeRollerGoal (id: 0);
intake_pivot_goal:IntakePivotGoal (id: 1);
+
+ catapult_goal:CatapultGoal (id: 2);
}
root_type Goal;