Add relative encoder zeroing strategy
Change-Id: I07b5461a9766aa25c9c858b7771af26ed08ad4ff
diff --git a/frc971/control_loops/control_loops.fbs b/frc971/control_loops/control_loops.fbs
index 4f1e888..a95d407 100644
--- a/frc971/control_loops/control_loops.fbs
+++ b/frc971/control_loops/control_loops.fbs
@@ -61,6 +61,14 @@
absolute_encoder:double;
}
+// Represents all of the data for a single encoder.
+// The relative encoder values are relative to where the encoder was at some
+// arbitrary point in time.
+table RelativePosition {
+ // Current position read from the encoder.
+ encoder:double;
+}
+
// The internal state of a zeroing estimator.
table EstimatorState {
// If true, there has been a fatal error for the estimator.
@@ -105,6 +113,14 @@
absolute_position:double;
}
+table RelativeEncoderEstimatorState {
+ // If true, there has been a fatal error for the estimator.
+ error:bool;
+
+ // The estimated position of the joint.
+ position:double;
+}
+
// The internal state of a zeroing estimator.
table IndexEstimatorState {
// If true, there has been a fatal error for the estimator.