Make talonfx log its own timestamp
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: Ifc148f2654e43a965a6f57727513aa38e5212845
diff --git a/frc971/control_loops/can_talonfx.fbs b/frc971/control_loops/can_talonfx.fbs
index 81efbb1..eea6379 100644
--- a/frc971/control_loops/can_talonfx.fbs
+++ b/frc971/control_loops/can_talonfx.fbs
@@ -22,5 +22,10 @@
position:float (id: 5);
// Nominal range is -1 to 1, but can be -2 to +2
- duty_cycle: float (id: 6);
+ duty_cycle:float (id: 6);
+
+ // The timestamp of the measurement on the canivore clock in nanoseconds
+ // This will have less jitter than the
+ // timestamp of the message being sent out.
+ timestamp:int64 (id: 7);
}