Update y2024 constants.fbs with auto & ignore_targets
These are the changes we ran with at SFR 2024; the changes to make use
of these additional changes are forthcoming.
Change-Id: Ic6491ca835bcb4f5fb79401ad8da747b72ed5ced
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2024/constants/constants.fbs b/y2024/constants/constants.fbs
index 31e2057..d33a161 100644
--- a/y2024/constants/constants.fbs
+++ b/y2024/constants/constants.fbs
@@ -115,6 +115,16 @@
retracted:double (id: 3);
}
+enum AutonomousMode : ubyte {
+ NONE = 0,
+ // Simple test S-spline auto mode
+ SPLINE_AUTO = 1,
+ // Simple drive-and-shoot to pick up at most one game piece.
+ MOBILITY_AND_SHOOT = 2,
+ // Auto to pick up four game pieces.
+ FOUR_PIECE = 3,
+}
+
table RobotConstants {
intake_constants:frc971.zeroing.AbsoluteEncoderZeroingConstants (id: 0);
climber_constants:PotAndAbsEncoderConstants (id: 1);
@@ -147,6 +157,13 @@
spitting:double (id: 1);
}
+// Set of april tag targets, by april tag ID, to ignore when on a
+// given alliance.
+table IgnoreTargets {
+ red:[uint64] (id: 0);
+ blue:[uint64] (id: 1);
+}
+
// Common table for constants unrelated to the robot
table Common {
target_map:frc971.vision.TargetMap (id: 0);
@@ -173,10 +190,12 @@
max_altitude_shooting_angle: double (id: 25);
shooter_speaker_set_point: ShooterSetPoint (id: 21);
shooter_podium_set_point: ShooterSetPoint (id: 22);
- extend_set_points:ExtendSetPoints (id: 23);
+ extend_set_points:ExtendSetPoints (id: 23);
// The position to move the turret to when avoiding collision
// with the extend when the extend is moving to amp/trap position.
turret_avoid_extend_collision_position: double (id: 24);
+ autonomous_mode:AutonomousMode (id: 26);
+ ignore_targets:IgnoreTargets (id: 27);
}
table Constants {