Update flatbuffers to match shooter logic
Gives more info about the state of the turret and sets up things needed
to make the turret not move until we're loaded.
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: I34cd819bd076a2535acbbe4440e8d990c5554fb4
diff --git a/y2024/constants/common.json b/y2024/constants/common.json
index 554f1e8..3fc95fe 100644
--- a/y2024/constants/common.json
+++ b/y2024/constants/common.json
@@ -5,7 +5,9 @@
"distance_from_goal": 0.0,
"shot_params": {
"shot_velocity": 0.0,
- "shot_angle": 0.0
+ "shot_altitude_angle": 0.0,
+ "shot_catapult_angle": 0.0,
+ "shot_speed_over_ground": 0.0
}
}
],
@@ -78,5 +80,7 @@
"upper": 2.0
},
"loop": {% include 'y2024/control_loops/superstructure/climber/integral_climber_plant.json' %}
- }
+ },
+ "turret_loading_position": 0.0,
+ "catapult_return_position": 0.0
}
diff --git a/y2024/constants/constants.fbs b/y2024/constants/constants.fbs
index 40d609f..a3ddb0b 100644
--- a/y2024/constants/constants.fbs
+++ b/y2024/constants/constants.fbs
@@ -12,7 +12,15 @@
table ShotParams {
shot_velocity: double (id: 0);
- shot_angle: double (id: 1);
+
+ // Angle of the altitude
+ shot_altitude_angle: double (id: 1);
+
+ // Angle of the catapult
+ shot_catapult_angle: double (id: 2);
+
+ // Speed over ground to use for shooting on the fly
+ shot_speed_over_ground: double (id: 3);
}
table InterpolationTablePoint {
@@ -88,6 +96,8 @@
transfer_roller_voltages:TransferRollerVoltages (id: 7);
climber:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemCommonParams (id: 8);
climber_set_points:ClimberSetPoints (id: 9);
+ turret_loading_position: double (id: 10);
+ catapult_return_position: double (id: 11);
}
table Constants {