| milind-u | 086d726 | 2022-01-19 20:44:18 -0800 | [diff] [blame] | 1 | namespace y2022.control_loops.superstructure; |
| 2 | |
| 3 | table Output { |
| Henry Speiser | 55aa3ba | 2022-02-21 23:21:12 -0800 | [diff] [blame^] | 4 | // Voltage of the climber falcon |
| 5 | // - is down + is up |
| 6 | climber_voltage:double (id: 0); |
| Jacob Ismael | 322ebb9 | 2022-02-09 20:12:47 -0800 | [diff] [blame] | 7 | |
| Henry Speiser | 55aa3ba | 2022-02-21 23:21:12 -0800 | [diff] [blame^] | 8 | // Voltage of the catapult falcon |
| 9 | // Positive lifts the catapult to fire. |
| 10 | catapult_voltage:double (id: 1); |
| Jacob Ismael | 322ebb9 | 2022-02-09 20:12:47 -0800 | [diff] [blame] | 11 | |
| Henry Speiser | 55aa3ba | 2022-02-21 23:21:12 -0800 | [diff] [blame^] | 12 | // Voltage of the turret falcon |
| 13 | // Positive rotates the turret around the Z axis (up) according to the |
| 14 | // right hand rule. |
| 15 | turret_voltage:double (id: 2); |
| 16 | |
| 17 | // Intake joint voltages. |
| 18 | intake_voltage_front:double (id: 3); |
| 19 | intake_voltage_back:double (id: 4); |
| 20 | |
| 21 | // Intake roller voltages |
| 22 | roller_voltage_front:double (id: 5); |
| 23 | roller_voltage_back:double (id: 6); |
| 24 | // One transfer motor for both sides |
| 25 | transfer_roller_voltage:double (id: 7); |
| milind-u | 086d726 | 2022-01-19 20:44:18 -0800 | [diff] [blame] | 26 | } |
| 27 | |
| 28 | root_type Output; |