| milind-u | 086d726 | 2022-01-19 20:44:18 -0800 | [diff] [blame] | 1 | include "frc971/control_loops/profiled_subsystem.fbs"; |
| 2 | |
| 3 | namespace y2022.control_loops.superstructure; |
| 4 | |
| 5 | table Goal { |
| Siddhant Kanwar | 0e37f59 | 2022-02-21 19:26:50 -0800 | [diff] [blame] | 6 | // Height of the climber above rest point |
| 7 | climber:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 0); |
| Henry Speiser | 55aa3ba | 2022-02-21 23:21:12 -0800 | [diff] [blame^] | 8 | |
| 9 | // Goal angles of intake joints. |
| 10 | // Positive is out, 0 is up. |
| 11 | intake_front:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 1); |
| 12 | intake_back:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 2); |
| 13 | |
| 14 | // Positive is rollers intaking. |
| 15 | roller_speed_front:double (id: 3); |
| 16 | roller_speed_back:double (id: 4); |
| 17 | // One transfer motor for both sides |
| 18 | transfer_roller_speed:double (id: 5); |
| 19 | |
| 20 | // Factor to multiply robot velocity by and add to roller voltage. |
| 21 | roller_speed_compensation:double (id: 6); |
| 22 | |
| 23 | turret:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 7); |
| milind-u | 086d726 | 2022-01-19 20:44:18 -0800 | [diff] [blame] | 24 | } |
| 25 | |
| 26 | root_type Goal; |