Swap y2024 drivetrain to use ConstantsFetcher
Simultaneously, remove the line following configuration from the y2024
drivetrain, since that code will not be relevant to this year.
Change-Id: I536bd2dd18080bbaae5d83cb151bbd2353d7896c
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2024/constants/constants.fbs b/y2024/constants/constants.fbs
index 52a54bb..7752ffb 100644
--- a/y2024/constants/constants.fbs
+++ b/y2024/constants/constants.fbs
@@ -1,6 +1,7 @@
include "frc971/vision/target_map.fbs";
include "frc971/control_loops/profiled_subsystem.fbs";
include "frc971/zeroing/constants.fbs";
+include "frc971/control_loops/drivetrain/drivetrain_config.fbs";
namespace y2024;
@@ -15,7 +16,7 @@
}
// Amount of voltage to give to the intake rollers when:
-// spitting, which represents voltage when IntakeRollerGoal is SPITTING
+// spitting, which represents voltage when IntakeRollerGoal is SPITTING
// and intaking, which represents voltage when IntakeRollerGoal is INTAKING
table IntakeRollerVoltages {
spitting:double (id: 0);
@@ -47,6 +48,7 @@
intake_roller_voltages:IntakeRollerVoltages (id : 2);
intake_pivot_set_points:IntakePivotSetPoints (id: 3);
intake_pivot:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemCommonParams (id: 4);
+ drivetrain:frc971.control_loops.drivetrain.fbs.DrivetrainConfig (id: 5);
}
table Constants {
@@ -54,4 +56,4 @@
common:Common (id: 1);
}
-root_type Constants;
\ No newline at end of file
+root_type Constants;