Refactor game piece position code & latch in target selector
Move the conversions to where they belong in the superstructure code,
and make the target selector latch the game piece position while it
has a target.
Change-Id: I4cd96fad9f327a241a146024ba38bcf34dfc8564
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2023/control_loops/superstructure/superstructure_position.fbs b/y2023/control_loops/superstructure/superstructure_position.fbs
index 3c7a33b..83ca2b6 100644
--- a/y2023/control_loops/superstructure/superstructure_position.fbs
+++ b/y2023/control_loops/superstructure/superstructure_position.fbs
@@ -47,7 +47,13 @@
// Positive position would be upwards
wrist:frc971.AbsolutePosition (id: 1);
- // If this is true, the cone beam break is triggered.
+ // Estimated position of a cone in the gripper from the time-of-flight
+ // sensors.
+ // If greater than 0.9, indicates that we cannot see a cone.
+ // Will be larger when the cone is farther forwards on the robot when
+ // the wrist and arm positions are all at zero (this will typically mean
+ // that it is larger when the cone is to the robot's current right when
+ // trying to core).
cone_position:double (id: 2);
// If this is true, the cube beam break is triggered.