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/control_loops/superstructure/superstructure_goal.fbs b/y2024/control_loops/superstructure/superstructure_goal.fbs
index bb7b706..6ec954f 100644
--- a/y2024/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2024/control_loops/superstructure/superstructure_goal.fbs
@@ -35,11 +35,25 @@
RETRACT = 2,
}
+table ShooterGoal {
+ catapult_goal:frc971.control_loops.catapult.CatapultGoal (id: 0);
+ fire: bool (id: 1);
+ // If true we ignore the other provided positions
+ auto_aim: bool (id: 2);
+
+ // Position for the turret when we aren't auto aiming
+ turret_position: frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 3);
+
+ // Position for the altitude when we aren't auto aiming
+ altitude_position: frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 4);
+}
+
table Goal {
intake_roller_goal:IntakeRollerGoal (id: 0);
intake_pivot_goal:IntakePivotGoal (id: 1);
catapult_goal:frc971.control_loops.catapult.CatapultGoal (id: 2);
transfer_roller_goal:TransferRollerGoal (id: 3);
climber_goal:ClimberGoal (id: 4);
+ shooter_goal:ShooterGoal (id: 5);
}
root_type Goal;