Add shooter and serializer to messages
Change-Id: Ibea4922814886608905d9457f1a08e587af6a3e8
diff --git a/y2020/control_loops/superstructure/superstructure_goal.fbs b/y2020/control_loops/superstructure/superstructure_goal.fbs
index d6693ca..4b1d8e9 100644
--- a/y2020/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2020/control_loops/superstructure/superstructure_goal.fbs
@@ -2,8 +2,18 @@
namespace y2020.control_loops.superstructure;
+table ShooterGoal {
+ // Angular velocity in rad/s of the slowest (lowest) wheel in the kicker.
+ // Positive is shooting the ball.
+ velocity_kicker:double;
+
+ // Angular velocity in rad/s of the flywheel. Positive is shooting.
+ velocity_flywheel:double;
+}
+
table Goal {
// Zero is at the horizontal, positive towards the front (meters on the lead screw).
+ // Only applies if hood_tracking = false.
hood:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal;
//0 = Linkage on sprocket is pointing straight up
@@ -17,6 +27,22 @@
// TODO(Kai): Define which wrap of the shooter is 0 if it can rotate past
// forward more than once.
turret:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal;
+
+ // Only applies if shooter_tracking = false.
+ shooter:ShooterGoal;
+
+ // Whether the robot should be shooting balls. Waits until hood, turret, and
+ // shooter are at goal (as determined by auto-tracking or override).
+ shooting:bool;
+
+ // Whether the hood should adjust its position automatically.
+ hood_tracking:bool;
+
+ // Whether the turret should follow the target automatically.
+ turret_tracking:bool;
+
+ // Whether the kicker and flywheel should choose a velocity automatically.
+ shooter_tracking:bool;
}
root_type Goal;