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_status.fbs b/y2024/control_loops/superstructure/superstructure_status.fbs
index b728f4f..fd19e8d 100644
--- a/y2024/control_loops/superstructure/superstructure_status.fbs
+++ b/y2024/control_loops/superstructure/superstructure_status.fbs
@@ -78,9 +78,12 @@
// Status of the aimer
aimer:AimerStatus (id: 4);
- turret_in_range:bool (id: 5);
- altitude_in_range:bool (id: 6);
- altitude_above_min_angle:bool (id: 7);
+ // True if auto-aiming.
+ auto_aiming:bool (id: 5);
+
+ turret_in_range:bool (id: 6);
+ altitude_in_range:bool (id: 7);
+ altitude_above_min_angle:bool (id: 8);
}
// Contains status of transfer rollers
@@ -178,6 +181,9 @@
extend_beambreak:bool (id: 19);
catapult_beambreak:bool (id: 20);
+
+ // Number of shots we have taken.
+ shot_count:uint32 (id:21);
}
root_type Status;