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_status.fbs b/y2024/control_loops/superstructure/superstructure_status.fbs
index cd727ac..40b792f 100644
--- a/y2024/control_loops/superstructure/superstructure_status.fbs
+++ b/y2024/control_loops/superstructure/superstructure_status.fbs
@@ -10,6 +10,15 @@
INTAKING = 2,
}
+enum CatapultStatus: ubyte {
+ // Means we are waiting for a game piece
+ IDLE = 0,
+ // Means we have a game piece
+ LOADED = 1,
+ // Means we are firing a game piece
+ FIRING = 2,
+}
+
table ShooterStatus {
// Estimated angle and angular velocitiy of the turret.
turret_state:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus (id: 0);
@@ -19,6 +28,8 @@
// Estimated angle and angular velocitiy of the altitude.
altitude_state:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus (id: 2);
+
+ catapult_status: CatapultStatus (id: 3);
}
// Contains status of transfer rollers