Merge "Add script to build Bookworm rootfs with libargus support"
diff --git a/y2023_bot3/control_loops/superstructure/superstructure_goal.fbs b/y2023_bot3/control_loops/superstructure/superstructure_goal.fbs
index bcdf9ff..2aad7f1 100644
--- a/y2023_bot3/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2023_bot3/control_loops/superstructure/superstructure_goal.fbs
@@ -2,8 +2,17 @@
namespace y2023_bot3.control_loops.superstructure;
-table Goal {
+enum PivotGoal: ubyte {
+ PICKUP_FRONT = 0,
+ PICKUP_BACK = 1,
+ SCORE_LOW_FRONT = 2,
+ SCORE_LOW_BACK = 3,
+ SCORE_MID_FRONT = 4,
+ SCORE_MID_BACK = 5,
+}
+table Goal {
+ pivot_goal:PivotGoal (id: 0);
}
diff --git a/y2023_bot3/control_loops/superstructure/superstructure_output.fbs b/y2023_bot3/control_loops/superstructure/superstructure_output.fbs
index 98dbcf7..a109051 100644
--- a/y2023_bot3/control_loops/superstructure/superstructure_output.fbs
+++ b/y2023_bot3/control_loops/superstructure/superstructure_output.fbs
@@ -1,6 +1,8 @@
namespace y2023_bot3.control_loops.superstructure;
table Output {
+ // Pivot joint voltage
+ pivot_joint_voltage:double (id: 0);
}
root_type Output;
diff --git a/y2023_bot3/control_loops/superstructure/superstructure_position.fbs b/y2023_bot3/control_loops/superstructure/superstructure_position.fbs
index dc6282f..461ad1e 100644
--- a/y2023_bot3/control_loops/superstructure/superstructure_position.fbs
+++ b/y2023_bot3/control_loops/superstructure/superstructure_position.fbs
@@ -4,6 +4,8 @@
namespace y2023_bot3.control_loops.superstructure;
table Position {
+ // The position of the pivot joint in radians
+ pivot_joint_position:frc971.PotAndAbsolutePosition (id: 0);
}
root_type Position;
diff --git a/y2023_bot3/control_loops/superstructure/superstructure_status.fbs b/y2023_bot3/control_loops/superstructure/superstructure_status.fbs
index b36e0da..ca20715 100644
--- a/y2023_bot3/control_loops/superstructure/superstructure_status.fbs
+++ b/y2023_bot3/control_loops/superstructure/superstructure_status.fbs
@@ -9,6 +9,9 @@
// If true, we have aborted. This is the or of all subsystem estops.
estopped:bool (id: 1);
+
+ // The current state of the arm.
+ pivot_joint_state:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus (id: 2);
}
root_type Status;