Swap y2023 wrist over to the constants.json
There are a couple of awkward constants that show up in json_codegen.cc
as still being managed from the C++ end; there are also a couple of
codegen'd constants from the wrist python code that we use in
constants.h. However, this does move *all* of the per-robot
configuration into the constants JSON file and should allow us to remove
the superstructure's dependency on the constants.h (if the arm were also
converted over).
Change-Id: Id9fc1e80830af823d96e5f3c1e469495eba454a4
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2023/constants/constants.fbs b/y2023/constants/constants.fbs
index 61c3365..8910051 100644
--- a/y2023/constants/constants.fbs
+++ b/y2023/constants/constants.fbs
@@ -1,5 +1,7 @@
include "frc971/vision/calibration.fbs";
include "frc971/vision/target_map.fbs";
+include "frc971/control_loops/profiled_subsystem.fbs";
+include "frc971/zeroing/constants.fbs";
include "y2023/localizer/scoring_map.fbs";
namespace y2023;
@@ -27,6 +29,7 @@
// Table of time-of-flight reading positions. Until we bother using one
// of our interpolation classes, should just contain two values.
tof:TimeOfFlight (id: 0);
+ wrist_zero:frc971.zeroing.AbsoluteEncoderZeroingConstants (id: 1);
}
// Set of april tag targets, by april tag ID, to ignore when on a
@@ -42,6 +45,7 @@
scoring_map:localizer.ScoringMap (id: 2);
robot:RobotConstants (id: 3);
ignore_targets:IgnoreTargets (id: 4);
+ wrist:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemCommonParams (id: 5);
}
root_type Constants;