Create CANPosition sender
Read the velocity of the integrated sensor on the flipper arms over can
and send it in it's own position message
Signed-off-by: Ravago Jones <ravagojones@gmail.com>
Change-Id: I3fa46526c2577f7cd1331924125bdad59111eb63
diff --git a/y2022/control_loops/superstructure/BUILD b/y2022/control_loops/superstructure/BUILD
index f08bb80..cd3f7c3 100644
--- a/y2022/control_loops/superstructure/BUILD
+++ b/y2022/control_loops/superstructure/BUILD
@@ -24,6 +24,14 @@
)
flatbuffer_cc_library(
+ name = "superstructure_can_position_fbs",
+ srcs = [
+ "superstructure_can_position.fbs",
+ ],
+ gen_reflections = 1,
+)
+
+flatbuffer_cc_library(
name = "superstructure_status_fbs",
srcs = [
"superstructure_status.fbs",
diff --git a/y2022/control_loops/superstructure/superstructure_can_position.fbs b/y2022/control_loops/superstructure/superstructure_can_position.fbs
new file mode 100644
index 0000000..e521d8c
--- /dev/null
+++ b/y2022/control_loops/superstructure/superstructure_can_position.fbs
@@ -0,0 +1,10 @@
+namespace y2022.control_loops.superstructure;
+
+// CAN readings from the CAN sensor reader loop
+table CANPosition {
+ // Velocity of the flipper arms (rad/s), obtained from the integrated sensor
+ // in the falcon.
+ flipper_arm_integrated_sensor_velocity:double (id: 0);
+}
+
+root_type CANPosition;