Add Encoder Fault Detector to frc971 Control Loop
The Encoder Fault Detector will take in a Position and CANPosition message to test whether either encoder or CAN encoders in a subsystem are faulted
Signed-off-by: Niko Sohmers <nikolai@sohmers.com>
Change-Id: I544772a809fbe4dc26dc0e37ef3c4b2ae4def75e
diff --git a/frc971/control_loops/encoder_fault_status.fbs b/frc971/control_loops/encoder_fault_status.fbs
new file mode 100644
index 0000000..ad3d360
--- /dev/null
+++ b/frc971/control_loops/encoder_fault_status.fbs
@@ -0,0 +1,11 @@
+namespace frc971.control_loops;
+
+// EncoderFaultStatus table contains boolean for when subsystem is faulted
+
+// TODO (niko): Add a boolean representing whether new date is "stale"
+// meaning that it is currently being ignored due to it
+// coming in slower than the 10 millisecond timeframe
+
+table EncoderFaultStatus {
+ faulted:bool (id : 0);
+}
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