Add shooter and serializer to messages
Change-Id: Ibea4922814886608905d9457f1a08e587af6a3e8
diff --git a/y2020/control_loops/superstructure/superstructure_position.fbs b/y2020/control_loops/superstructure/superstructure_position.fbs
index aabcd43..ed73e52 100644
--- a/y2020/control_loops/superstructure/superstructure_position.fbs
+++ b/y2020/control_loops/superstructure/superstructure_position.fbs
@@ -2,6 +2,16 @@
namespace y2020.control_loops.superstructure;
+table ShooterPosition {
+ // Flywheel angle in radians, positive is shooting.
+ theta_flywheel:double;
+
+ // Kicker angle in radians of the slowest (lowest) wheel, positive is
+ // accelerating the ball toward the shooter.
+ theta_kicker_left:double;
+ theta_kicker_right:double;
+}
+
table Position {
// Zero is at the horizontal, positive towards the front (meters on the lead screw).
hood:frc971.AbsolutePosition;
@@ -11,6 +21,9 @@
// See goal for definition of 0
turret:frc971.PotAndAbsolutePosition;
+
+ // Position of the kicker and flywheel
+ shooter:ShooterPosition;
}
root_type Position;