commit db730d7bd90cf544168da249207dff259b422b12
author James Kuszmaul <jabukuszmaul@gmail.com> Sat Feb 25 16:01:27 2023 -0800
committer James Kuszmaul <jabukuszmaul@gmail.com> Sat Feb 25 20:56:40 2023 -0800
tree bb8cea105f998705052c05aad38d2e341dfb0aa8
parent 18008f8c658c84341000f7570eee11f6f10223e0

Add TargetSelectorHint channel

Change-Id: Icd9cd061a25bcbe8c1ade786a714bc66799f1831
Signed-off-by: James Kuszmaul <jabukuszmaul@gmail.com>

y2023/BUILD

diff --git a/y2023/BUILD b/y2023/BUILD
index dc5e708..f772caa 100644
--- a/y2023/BUILD
+++ b/y2023/BUILD
@@ -185,6 +185,7 @@
         "//aos/network:timestamp_fbs",
         "//y2019/control_loops/drivetrain:target_selector_fbs",
         "//y2023/control_loops/superstructure:superstructure_goal_fbs",
+        "//y2023/control_loops/drivetrain:target_selector_hint_fbs",
         "//y2023/control_loops/drivetrain:drivetrain_can_position_fbs",
         "//y2023/control_loops/superstructure:superstructure_output_fbs",
         "//y2023/control_loops/superstructure:superstructure_position_fbs",

y2023/control_loops/drivetrain/BUILD

diff --git a/y2023/control_loops/drivetrain/BUILD b/y2023/control_loops/drivetrain/BUILD
index 09e5137..416d6d9 100644
--- a/y2023/control_loops/drivetrain/BUILD
+++ b/y2023/control_loops/drivetrain/BUILD
@@ -122,3 +122,12 @@
     gen_reflections = 1,
     visibility = ["//visibility:public"],
 )
+
+flatbuffer_cc_library(
+    name = "target_selector_hint_fbs",
+    srcs = [
+        ":target_selector_hint.fbs",
+    ],
+    gen_reflections = 1,
+    visibility = ["//visibility:public"],
+)

y2023/control_loops/drivetrain/target_selector_hint.fbs

diff --git a/y2023/control_loops/drivetrain/target_selector_hint.fbs b/y2023/control_loops/drivetrain/target_selector_hint.fbs
new file mode 100644
index 0000000..0a16a59
--- /dev/null
+++ b/y2023/control_loops/drivetrain/target_selector_hint.fbs
@@ -0,0 +1,33 @@
+namespace y2023.control_loops.drivetrain;
+
+// Which of the grids we are going for.
+// From the perspective of the robot!
+enum GridSelectionHint : ubyte {
+  LEFT,
+  MIDDLE,
+  RIGHT,
+}
+
+// Which level to score on.
+enum RowSelectionHint : ubyte {
+  BOTTOM,
+  MIDDLE,
+  TOP,
+}
+
+// Within a row, which spot to score in.
+// From the perspective of the robot!
+enum SpotSelectionHint : ubyte {
+  LEFT,
+  MIDDLE,
+  RIGHT,
+}
+
+
+table TargetSelectorHint {
+  grid:GridSelectionHint (id: 0);
+  row:RowSelectionHint (id: 1);
+  spot:SpotSelectionHint (id: 2);
+}
+
+root_type TargetSelectorHint;

y2023/y2023_roborio.json

diff --git a/y2023/y2023_roborio.json b/y2023/y2023_roborio.json
index 70a6685..44b6aff 100644
--- a/y2023/y2023_roborio.json
+++ b/y2023/y2023_roborio.json
@@ -451,6 +451,11 @@
       "frequency": 1,
       "num_senders": 2,
       "max_size": 4096
+    },
+    {
+      "name": "/drivetrain",
+      "type": "y2023.control_loops.drivetrain.TargetSelectorHint",
+      "source_node": "roborio"
     }
   ],
   "applications": [