| milind-u | 086d726 | 2022-01-19 20:44:18 -0800 | [diff] [blame] | 1 | include "frc971/control_loops/control_loops.fbs"; |
| 2 | |
| 3 | namespace y2022.control_loops.superstructure; |
| 4 | |
| 5 | table Position { |
| Siddhant Kanwar | 0e37f59 | 2022-02-21 19:26:50 -0800 | [diff] [blame] | 6 | climber:frc971.RelativePosition (id: 0); |
| Henry Speiser | 55aa3ba | 2022-02-21 23:21:12 -0800 | [diff] [blame] | 7 | // Zero for the intake position value is up, and positive is |
| 8 | // down. |
| 9 | intake_front:frc971.PotAndAbsolutePosition (id: 1); |
| 10 | intake_back:frc971.PotAndAbsolutePosition (id: 2); |
| 11 | turret:frc971.PotAndAbsolutePosition (id: 3); |
| Griffin Bui | bcbef48 | 2022-02-23 15:32:10 -0800 | [diff] [blame] | 12 | |
| 13 | // Zero is straight and positive is open |
| 14 | flipper_arm_left:frc971.RelativePosition (id: 4); |
| 15 | flipper_arm_right:frc971.RelativePosition (id: 5); |
| Milo Lin | 4950ac5 | 2022-02-25 19:56:11 -0800 | [diff] [blame] | 16 | |
| Austin Schuh | 39f26f6 | 2022-02-24 21:34:46 -0800 | [diff] [blame^] | 17 | // True means there is a ball in front of the sensor. |
| Milo Lin | 4950ac5 | 2022-02-25 19:56:11 -0800 | [diff] [blame] | 18 | intake_beambreak_front:bool (id:6); |
| 19 | intake_beambreak_back:bool (id:7); |
| 20 | turret_beambreak:bool (id:8); |
| Austin Schuh | 39f26f6 | 2022-02-24 21:34:46 -0800 | [diff] [blame^] | 21 | |
| 22 | // Position of the catapult. Positive is up to fire. Zero is horizontal |
| 23 | // with the drive base. |
| 24 | catapult:frc971.PotAndAbsolutePosition (id: 9); |
| milind-u | 086d726 | 2022-01-19 20:44:18 -0800 | [diff] [blame] | 25 | } |
| 26 | |
| 27 | root_type Position; |