| milind-u | 086d726 | 2022-01-19 20:44:18 -0800 | [diff] [blame] | 1 | include "frc971/control_loops/control_loops.fbs"; |
| 2 | include "frc971/control_loops/profiled_subsystem.fbs"; |
| 3 | |
| 4 | namespace y2022.control_loops.superstructure; |
| 5 | |
| 6 | table Status { |
| 7 | // All subsystems know their location. |
| 8 | zeroed:bool (id: 0); |
| 9 | |
| 10 | // If true, we have aborted. This is the or of all subsystem estops. |
| 11 | estopped:bool (id: 1); |
| Griffin Bui | 67abb91 | 2022-01-22 16:16:21 -0800 | [diff] [blame] | 12 | |
| Siddhant Kanwar | 0e37f59 | 2022-02-21 19:26:50 -0800 | [diff] [blame] | 13 | // Subsystem statuses |
| 14 | climber:frc971.control_loops.RelativeEncoderProfiledJointStatus (id: 2); |
| Henry Speiser | 55aa3ba | 2022-02-21 23:21:12 -0800 | [diff] [blame^] | 15 | |
| 16 | // Estimated angles and angular velocities of the intakes. |
| 17 | intake_front:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus (id: 3); |
| 18 | intake_back:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus (id: 4); |
| 19 | |
| 20 | turret:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus (id: 5); |
| milind-u | 086d726 | 2022-01-19 20:44:18 -0800 | [diff] [blame] | 21 | } |
| 22 | |
| 23 | root_type Status; |