commit 3f2a507ed2af55d5caa92256cfd9d1c893b202cb
author Nikolai Sohmers <nikolai@sohmers.com> Sat Jun 08 14:05:59 2024 -0700
committer Nikolai Sohmers <nikolai@sohmers.com> Sat Jun 08 14:05:59 2024 -0700
tree 17e621fa73178afc58871ff68819d5b12e1694d4
parent 2df6f30e9ed692c944a030f994d8df01fc98f143

Update swerve drivetrain position messages & logic

This makes it so that the swerve drivetrain positions are sent in two
separate position messages (for FPGA-based and CAN-based positions),
using message definitions from the frc971/ folder.

Also refactors the SwerveModule class/usage a bit.

Removes the follower wheels from the y2024_swerve code.

Change-Id: I36898c3337b5a1437ce0c2a0189fd317929f1986
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

frc971/control_loops/swerve/BUILD

diff --git a/frc971/control_loops/swerve/BUILD b/frc971/control_loops/swerve/BUILD
index 4e06932..ea6dd7c 100644
--- a/frc971/control_loops/swerve/BUILD
+++ b/frc971/control_loops/swerve/BUILD
@@ -8,6 +8,13 @@
 )
 
 static_flatbuffer(
+    name = "swerve_drivetrain_can_position_fbs",
+    srcs = ["swerve_drivetrain_can_position.fbs"],
+    visibility = ["//visibility:public"],
+    deps = ["//frc971/control_loops:can_talonfx_fbs"],
+)
+
+static_flatbuffer(
     name = "swerve_drivetrain_position_fbs",
     srcs = ["swerve_drivetrain_position.fbs"],
     visibility = ["//visibility:public"],