Updated ArmCommand

BinghamtonRover · May 26, 2024 · ae18e28 · ae18e28
1 parent 53109c8
commit ae18e28
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Showing 3 changed files with 19 additions and 2 deletions.
diff --git a/Protobuf b/Protobuf
diff --git a/lib/src/generated/arm.pb.dart b/lib/src/generated/arm.pb.dart
@@ -221,6 +221,7 @@ class MotorCommand extends $pb.GeneratedMessage {
   factory MotorCommand({
     $core.int? moveSteps,
     $core.double? moveRadians,
+    $core.double? angle,
   }) {
     final $result = create();
     if (moveSteps != null) {
@@ -229,6 +230,9 @@ class MotorCommand extends $pb.GeneratedMessage {
     if (moveRadians != null) {
       $result.moveRadians = moveRadians;
     }
+    if (angle != null) {
+      $result.angle = angle;
+    }
     return $result;
   }
   MotorCommand._() : super();
@@ -238,6 +242,7 @@ class MotorCommand extends $pb.GeneratedMessage {
   static final $pb.BuilderInfo _i = $pb.BuilderInfo(_omitMessageNames ? '' : 'MotorCommand', createEmptyInstance: create)
     ..a<$core.int>(1, _omitFieldNames ? '' : 'moveSteps', $pb.PbFieldType.O3)
     ..a<$core.double>(2, _omitFieldNames ? '' : 'moveRadians', $pb.PbFieldType.OF)
+    ..a<$core.double>(3, _omitFieldNames ? '' : 'angle', $pb.PbFieldType.OF)
     ..hasRequiredFields = false
   ;
 
@@ -281,6 +286,16 @@ class MotorCommand extends $pb.GeneratedMessage {
   $core.bool hasMoveRadians() => $_has(1);
   @$pb.TagNumber(2)
   void clearMoveRadians() => clearField(2);
+
+  /// / An angle to go to. Useful in IK.
+  @$pb.TagNumber(3)
+  $core.double get angle => $_getN(2);
+  @$pb.TagNumber(3)
+  set angle($core.double v) { $_setFloat(2, v); }
+  @$pb.TagNumber(3)
+  $core.bool hasAngle() => $_has(2);
+  @$pb.TagNumber(3)
+  void clearAngle() => clearField(3);
 }
 
 class ArmData extends $pb.GeneratedMessage {
@@ -571,6 +586,7 @@ class ArmCommand extends $pb.GeneratedMessage {
   @$pb.TagNumber(6)
   MotorCommand ensureGripperLift() => $_ensure(5);
 
+  /// Can be removed in future versions
   @$pb.TagNumber(7)
   $core.double get ikX => $_getN(6);
   @$pb.TagNumber(7)

diff --git a/lib/src/generated/arm.pbjson.dart b/lib/src/generated/arm.pbjson.dart
@@ -79,13 +79,14 @@ const MotorCommand$json = {
   '2': [
     {'1': 'move_steps', '3': 1, '4': 1, '5': 5, '10': 'moveSteps'},
     {'1': 'move_radians', '3': 2, '4': 1, '5': 2, '10': 'moveRadians'},
+    {'1': 'angle', '3': 3, '4': 1, '5': 2, '10': 'angle'},
   ],
 };
 
 /// Descriptor for `MotorCommand`. Decode as a `google.protobuf.DescriptorProto`.
 final $typed_data.Uint8List motorCommandDescriptor = $convert.base64Decode(
     'CgxNb3RvckNvbW1hbmQSHQoKbW92ZV9zdGVwcxgBIAEoBVIJbW92ZVN0ZXBzEiEKDG1vdmVfcm'
-    'FkaWFucxgCIAEoAlILbW92ZVJhZGlhbnM=');
+    'FkaWFucxgCIAEoAlILbW92ZVJhZGlhbnMSFAoFYW5nbGUYAyABKAJSBWFuZ2xl');
 
 @$core.Deprecated('Use armDataDescriptor instead')
 const ArmData$json = {