Update superstructure fbs schemas
This updates the superstructure goal/status with fields to asupport shot
counting, auto-aiming, and allowing more control over the
intake/climber.
Pushing these before the main SFR updates to get the schema changes
pushed early.
Change-Id: Ic2300942158f61bb95a1950fbc1168e9188fe702
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2024/control_loops/superstructure/superstructure_goal.fbs b/y2024/control_loops/superstructure/superstructure_goal.fbs
index 42caf9b..13cf4e0 100644
--- a/y2024/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2024/control_loops/superstructure/superstructure_goal.fbs
@@ -12,6 +12,11 @@
SPIT = 2,
}
+enum IntakePivotGoal : ubyte {
+ UP = 0,
+ DOWN = 1,
+}
+
// Represents goal for climber
// FULL_EXTEND is for fully extending the climber
// RETRACT is for retracting the climber
@@ -54,9 +59,13 @@
table Goal {
intake_goal:IntakeGoal = NONE (id: 0);
+ intake_pivot:IntakePivotGoal = UP (id: 5);
climber_goal:ClimberGoal (id: 1);
shooter_goal:ShooterGoal (id: 2);
note_goal:NoteGoal (id: 3);
fire: bool (id: 4);
+
+ // Tells the climber to go absurdly slow on FULL_EXTEND
+ slow_climber: bool = false (id: 6);
}
root_type Goal;