frc971/control_loops/drivetrain/drivetrain_config.json

{
  "channels": [
    {
      "name": "/drivetrain",
      "type": "frc971.IMUValuesBatch",
      "max_size": 2000,
      "frequency": 2000
    },
    /* TODO(james): Experiment with size limitations. */
    {
      "name": "/drivetrain",
      "type": "frc971.control_loops.drivetrain.fb.Trajectory",
      "max_size": 600000,
      "frequency": 4,
      "num_senders": 2,
      "read_method": "PIN",
      "num_readers": 6
    },
    {
      "name": "/drivetrain",
      "type": "frc971.control_loops.drivetrain.SplineGoal",
      "frequency": 10
    },
    {
      "name": "/drivetrain",
      "type": "frc971.sensors.GyroReading",
      "frequency": 200
    },
    {
      "name": "/drivetrain",
      "type": "frc971.sensors.Uid",
      "frequency": 200
    },
    {
      "name": "/drivetrain",
      "type": "frc971.control_loops.drivetrain.Goal",
      "frequency": 200
    },
    {
      "name": "/drivetrain",
      "type": "frc971.control_loops.drivetrain.Position",
      "frequency": 200
    },
    {
      "name": "/drivetrain",
      "type": "frc971.control_loops.drivetrain.Status",
      "frequency": 200,
      "max_size": 2000
    },
    {
      "name": "/drivetrain",
      "type": "frc971.control_loops.drivetrain.Output",
      "frequency": 200
    },
    {
      "name": "/drivetrain",
      "type": "frc971.control_loops.drivetrain.LocalizerControl",
      "frequency": 200
    }
  ]
}