commit 43f71981a3bd3d7acb1a094fb136e54bddac802e
author Niko Sohmers <nikolai@sohmers.com> Wed Jan 03 19:43:59 2024 -0800
committer Niko Sohmers <nikolai@sohmers.com> Wed Feb 14 20:19:13 2024 -0800
tree 890bc4ddbd215692968027f449d565201e6de647
parent 4a5bef8114ad20cc4216bdf54ebbcf47277f4de0

Add Drivetrain Encoder fault detector

The Drivetrain encoder Fault detector will add a faults message to drivetrain status in order to display whether the left or right sides of the drivetrain are faulted.

Signed-off-by: Niko Sohmers <nikolai@sohmers.com>
Change-Id: Ieb13e9d236fbea591a6062b1733ed808c7648ace

frc971/control_loops/drivetrain/BUILD

diff --git a/frc971/control_loops/drivetrain/BUILD b/frc971/control_loops/drivetrain/BUILD
index 6f98839..316c12f 100644
--- a/frc971/control_loops/drivetrain/BUILD
+++ b/frc971/control_loops/drivetrain/BUILD
@@ -42,7 +42,10 @@
 static_flatbuffer(
     name = "drivetrain_status_fbs",
     srcs = ["drivetrain_status.fbs"],
-    deps = ["//frc971/control_loops:control_loops_fbs"],
+    deps = [
+        "//frc971/control_loops:control_loops_fbs",
+        "//frc971/control_loops:encoder_fault_status_fbs",
+    ],
 )
 
 static_flatbuffer(
@@ -62,7 +65,10 @@
     name = "drivetrain_status_ts_fbs",
     srcs = ["drivetrain_status.fbs"],
     target_compatible_with = ["@platforms//os:linux"],
-    deps = ["//frc971/control_loops:control_loops_ts_fbs"],
+    deps = [
+        "//frc971/control_loops:control_loops_ts_fbs",
+        "//frc971/control_loops:encoder_fault_status_ts_fbs",
+    ],
 )
 
 flatbuffer_ts_library(
@@ -128,7 +134,10 @@
 static_flatbuffer(
     name = "drivetrain_status_float_fbs",
     srcs = ["drivetrain_status_float.fbs"],
-    deps = ["//frc971/control_loops:control_loops_fbs"],
+    deps = [
+        "//frc971/control_loops:control_loops_fbs",
+        "//frc971/control_loops:encoder_fault_status_fbs",
+    ],
 )
 
 aos_config(
@@ -136,6 +145,7 @@
     src = "drivetrain_simulation_channels.json",
     flatbuffers = [
         ":drivetrain_status_fbs",
+        "//frc971/control_loops:encoder_fault_status_fbs",
     ],
     target_compatible_with = ["@platforms//os:linux"],
     visibility = ["//visibility:public"],
@@ -162,6 +172,7 @@
         ":drivetrain_output_fbs",
         ":drivetrain_status_fbs",
         ":drivetrain_position_fbs",
+        ":drivetrain_can_position_fbs",
         ":localizer_fbs",
         "//frc971/queues:gyro_fbs",
         "//frc971/queues:gyro_uid_fbs",
@@ -789,6 +800,34 @@
     ],
 )
 
+cc_library(
+    name = "drivetrain_encoder_fault_detector",
+    srcs = ["drivetrain_encoder_fault_detector.cc"],
+    hdrs = ["drivetrain_encoder_fault_detector.h"],
+    target_compatible_with = ["@platforms//os:linux"],
+    deps = [
+        "//aos/events:event_loop",
+        "//frc971/control_loops:encoder_fault_detector",
+        "//frc971/control_loops:encoder_fault_status_fbs",
+        "//frc971/control_loops/drivetrain:drivetrain_can_position_fbs",
+        "//frc971/control_loops/drivetrain:drivetrain_position_fbs",
+        "//frc971/control_loops/drivetrain:drivetrain_status_fbs",
+    ],
+)
+
+cc_test(
+    name = "drivetrain_encoder_fault_detector_test",
+    srcs = ["drivetrain_encoder_fault_detector_test.cc"],
+    data = [":simulation_config"],
+    target_compatible_with = ["@platforms//os:linux"],
+    deps = [
+        ":drivetrain_encoder_fault_detector",
+        "//aos:json_to_flatbuffer",
+        "//aos/events:simulated_event_loop",
+        "//aos/testing:googletest",
+    ],
+)
+
 cc_test(
     name = "camera_test",
     srcs = ["camera_test.cc"],