commit 24b5db1a4779ab7df3a31ddb439207896d16c4a6
author Tyler Chatow <tchatow@gmail.com> Mon Jan 06 21:16:56 2020 -0800
committer Tyler Chatow <tchatow@gmail.com> Thu Jan 09 19:44:40 2020 -0800
tree 2ac43780248632d06c4513f7783028188494dcec
parent aa227237436c3bc356b19bcb0b73eee77632bd0b

Get 2016 robot running with flatbuffers

Change-Id: Ib3b49fd5f3eae7d0151cfa1ada7cb3746d5f296f

frc971/control_loops/drivetrain/BUILD

diff --git a/frc971/control_loops/drivetrain/BUILD b/frc971/control_loops/drivetrain/BUILD
index a723d96..f263d14 100644
--- a/frc971/control_loops/drivetrain/BUILD
+++ b/frc971/control_loops/drivetrain/BUILD
@@ -106,7 +106,8 @@
         ":drivetrain_status_fbs",
         ":drivetrain_position_fbs",
         ":localizer_fbs",
-        "//frc971/queues:gyro",
+        "//frc971/queues:gyro_fbs",
+        "//frc971/queues:gyro_uid_fbs",
         "//frc971/wpilib:imu_fbs",
     ],
     visibility = ["//visibility:public"],
@@ -382,7 +383,7 @@
         "//aos/controls:control_loop",
         "//aos/util:log_interval",
         "//frc971/control_loops:runge_kutta",
-        "//frc971/queues:gyro",
+        "//frc971/queues:gyro_fbs",
         "//frc971/wpilib:imu_fbs",
     ],
 )
@@ -403,7 +404,7 @@
         "//aos/testing:googletest",
         "//frc971/control_loops:control_loops_fbs",
         "//frc971/control_loops:state_feedback_loop",
-        "//frc971/queues:gyro",
+        "//frc971/queues:gyro_fbs",
         "//y2016:constants",
         "//y2016/control_loops/drivetrain:polydrivetrain_plants",
     ],
@@ -434,7 +435,7 @@
         ":drivetrain_test_lib",
         "//aos/controls:control_loop_test",
         "//aos/testing:googletest",
-        "//frc971/queues:gyro",
+        "//frc971/queues:gyro_fbs",
     ] + cpu_select({
         "amd64": [
             "//third_party/matplotlib-cpp",

frc971/control_loops/drivetrain/drivetrain_config.json

diff --git a/frc971/control_loops/drivetrain/drivetrain_config.json b/frc971/control_loops/drivetrain/drivetrain_config.json
index dc828bb..df64659 100644
--- a/frc971/control_loops/drivetrain/drivetrain_config.json
+++ b/frc971/control_loops/drivetrain/drivetrain_config.json
@@ -13,6 +13,11 @@
     },
     {
       "name": "/drivetrain",
+      "type": "frc971.sensors.Uid",
+      "frequency": 200
+    },
+    {
+      "name": "/drivetrain",
       "type": "frc971.control_loops.drivetrain.Goal",
       "frequency": 200
     },