Add AbsoluteAndAbsolutePosition and simulate it
Change-Id: I0b84981c48bc88db1a9cc586aec9596ea9abf531
diff --git a/frc971/control_loops/control_loops.fbs b/frc971/control_loops/control_loops.fbs
index a95d407..4377541 100644
--- a/frc971/control_loops/control_loops.fbs
+++ b/frc971/control_loops/control_loops.fbs
@@ -61,6 +61,23 @@
absolute_encoder:double;
}
+// Represents all of the data for an absolute and relative encoder pair,
+// along with an absolute encoder.
+// They operate similarly to a pot and absolute encoder, but another absolute
+// encoder is used in place of the potentiometer.
+// The units on all of the positions are the same.
+// The relative encoder values are relative to where the encoder was at some
+// arbitrary point in time.
+table AbsoluteAndAbsolutePosition {
+ // Current position read from each encoder.
+ encoder:double;
+ absolute_encoder:double;
+
+ // Current position read from the single turn absolute encoder.
+ // This can not turn more than one rotation.
+ single_turn_absolute_encoder:double;
+}
+
// Represents all of the data for a single encoder.
// The relative encoder values are relative to where the encoder was at some
// arbitrary point in time.