Add flatbuffer for roller current
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: I4e7ac183400260ff04d24623e2467eac0d08c801
diff --git a/y2023/control_loops/superstructure/BUILD b/y2023/control_loops/superstructure/BUILD
index d00489a..5da5250 100644
--- a/y2023/control_loops/superstructure/BUILD
+++ b/y2023/control_loops/superstructure/BUILD
@@ -56,6 +56,8 @@
includes = [
"//frc971/control_loops:control_loops_fbs_includes",
"//frc971/control_loops:profiled_subsystem_fbs_includes",
+ "//frc971/vision:calibration_fbs_includes",
+ "//y2023/control_loops/drivetrain:drivetrain_can_position_fbs_includes",
],
)
@@ -69,7 +71,6 @@
],
deps = [
":superstructure_goal_fbs",
- ":superstructure_position_fbs",
":superstructure_status_fbs",
"//aos/events:event_loop",
"//aos/time",
@@ -97,6 +98,7 @@
"//frc971/control_loops:control_loop",
"//frc971/control_loops/drivetrain:drivetrain_status_fbs",
"//y2023:constants",
+ "//y2023/control_loops/drivetrain:drivetrain_can_position_fbs",
"//y2023/control_loops/superstructure/arm",
],
)
diff --git a/y2023/control_loops/superstructure/arm/BUILD b/y2023/control_loops/superstructure/arm/BUILD
index ce226d1..e1e3392 100644
--- a/y2023/control_loops/superstructure/arm/BUILD
+++ b/y2023/control_loops/superstructure/arm/BUILD
@@ -14,6 +14,7 @@
"//frc971/control_loops/double_jointed_arm:graph",
"//frc971/zeroing",
"//y2023:constants",
+ "//y2023/control_loops/drivetrain:drivetrain_can_position_fbs",
"//y2023/control_loops/superstructure:superstructure_position_fbs",
"//y2023/control_loops/superstructure:superstructure_status_fbs",
"//y2023/control_loops/superstructure/arm:arm_constants",
diff --git a/y2023/control_loops/superstructure/end_effector.h b/y2023/control_loops/superstructure/end_effector.h
index 16007de..8c9b37b 100644
--- a/y2023/control_loops/superstructure/end_effector.h
+++ b/y2023/control_loops/superstructure/end_effector.h
@@ -6,7 +6,6 @@
#include "frc971/control_loops/control_loop.h"
#include "y2023/constants.h"
#include "y2023/control_loops/superstructure/superstructure_goal_generated.h"
-#include "y2023/control_loops/superstructure/superstructure_position_generated.h"
#include "y2023/control_loops/superstructure/superstructure_status_generated.h"
namespace y2023 {
diff --git a/y2023/control_loops/superstructure/superstructure.h b/y2023/control_loops/superstructure/superstructure.h
index 827cc40..87a5395 100644
--- a/y2023/control_loops/superstructure/superstructure.h
+++ b/y2023/control_loops/superstructure/superstructure.h
@@ -5,6 +5,7 @@
#include "frc971/control_loops/control_loop.h"
#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
#include "y2023/constants.h"
+#include "y2023/control_loops/drivetrain/drivetrain_can_position_generated.h"
#include "y2023/control_loops/superstructure/arm/arm.h"
#include "y2023/control_loops/superstructure/end_effector.h"
#include "y2023/control_loops/superstructure/superstructure_goal_generated.h"
diff --git a/y2023/control_loops/superstructure/superstructure_position.fbs b/y2023/control_loops/superstructure/superstructure_position.fbs
index cf8a843..3c7a33b 100644
--- a/y2023/control_loops/superstructure/superstructure_position.fbs
+++ b/y2023/control_loops/superstructure/superstructure_position.fbs
@@ -18,6 +18,28 @@
roll_joint:frc971.PotAndAbsolutePosition (id: 2);
}
+table CANFalcon {
+ // The CAN id of the falcon
+ id:int (id: 0);
+
+ // In Amps
+ supply_current:float (id: 1);
+
+ // In Amps
+ // Stator current where positive current means torque is applied in
+ // the motor's forward direction as determined by its Inverted setting.
+ torque_current:float (id: 2);
+
+ // In Volts
+ supply_voltage:float (id: 3);
+
+ // In degrees Celsius
+ device_temp:float (id: 4);
+
+ // Raw position
+ position:float (id: 5);
+}
+
table Position {
arm:ArmPosition (id: 0);
@@ -30,6 +52,9 @@
// If this is true, the cube beam break is triggered.
end_effector_cube_beam_break:bool (id: 3);
+
+ // Roller falcon data
+ roller_falcon:CANFalcon (id: 4);
}
root_type Position;