frc971/zeroing/constants.fbs

namespace frc971.zeroing;

table HallEffectZeroingConstants {
  // The absolute position of the lower edge of the hall effect sensor.
  lower_hall_position:double (id: 0);
  // The absolute position of the upper edge of the hall effect sensor.
  upper_hall_position:double (id: 1);
  // The difference in scaled units between two hall effect edges.  This is the
  // number of units/cycle.
  index_difference:double (id: 2);
  // Number of cycles we need to see the hall effect high.
  hall_trigger_zeroing_length:uint64 (id: 3);
  // Direction the system must be moving in order to zero. True is positive,
  // False is negative direction.
  zeroing_move_direction:bool (id: 4);
}

table PotAndIndexPulseZeroingConstants {
  // The number of samples in the moving average filter.
  average_filter_size:uint64 (id: 0);
  // The difference in scaled units between two index pulses.
  index_difference:double (id: 1);
  // The absolute position in scaled units of one of the index pulses.
  measured_index_position:double (id: 2);
  // Value between 0 and .5 which determines a fraction of the index_diff
  // you want to use.
  allowable_encoder_error:double (id: 3);
}

table EncoderPlusIndexZeroingConstants {
  // The amount of index pulses in the joint's range of motion.
  index_pulse_count:int (id: 0);
  // The difference in scaled units between two index pulses.
  index_difference:double (id: 1);
  // The absolute position in scaled units of one of the index pulses.
  measured_index_position:double (id: 2);
  // The index pulse that is known, going from lowest in the range of motion to
  // highest (Starting at 0).
  known_index_pulse:int (id: 3);
  // Value between 0 and 0.5 which determines a fraction of the index_diff
  // you want to use. If an index pulse deviates by more than this amount from
  // where we expect to see one then we flag an error.
  allowable_encoder_error:double (id: 4);
}

table PotAndAbsoluteEncoderZeroingConstants {
  // The number of samples in the moving average filter.
  average_filter_size:uint64 (id: 0);
  // The distance that the absolute encoder needs to complete a full rotation.
  one_revolution_distance:double (id: 1);
  // Measured absolute position of the encoder when at zero.
  measured_absolute_position:double (id: 2);

  // Treshold for deciding if we are moving. moving_buffer_size samples need to
  // be within this distance of each other before we use the middle one to zero.
  zeroing_threshold:double (id: 3);
  // Buffer size for deciding if we are moving.
  moving_buffer_size:uint64 (id: 4);

  // Value between 0 and 1 indicating what fraction of one_revolution_distance
  // it is acceptable for the offset to move.
  allowable_encoder_error:double (id: 5);
}

table RelativeEncoderZeroingConstants {}

table ContinuousAbsoluteEncoderZeroingConstants {
  // The number of samples in the moving average filter.
  average_filter_size:uint64 (id: 0);
  // The distance that the absolute encoder needs to complete a full rotation.
  // It is presumed that this will always be 2 * pi for any subsystem using this
  // class, unless you have a continuous system that for some reason doesn't
  // have a logical period of 1 revolution in radians.
  one_revolution_distance:double (id: 1);
  // Measured absolute position of the encoder when at zero.
  measured_absolute_position:double (id: 2);

  // Threshold for deciding if we are moving. moving_buffer_size samples need to
  // be within this distance of each other before we use the middle one to zero.
  zeroing_threshold:double (id: 3);
  // Buffer size for deciding if we are moving.
  moving_buffer_size:uint64 (id: 4);

  // Value between 0 and 1 indicating what fraction of a revolution
  // it is acceptable for the offset to move.
  allowable_encoder_error:double (id: 5);
}

table AbsoluteEncoderZeroingConstants {
  // The number of samples in the moving average filter.
  average_filter_size:uint64 (id: 0);
  // The distance that the absolute encoder needs to complete a full rotation.
  one_revolution_distance:double (id: 1);
  // Measured absolute position of the encoder when at zero.
  measured_absolute_position:double (id: 2);
  // Position of the middle of the range of motion in output coordinates.
  middle_position:double (id: 3);

  // Threshold for deciding if we are moving. moving_buffer_size samples need to
  // be within this distance of each other before we use the middle one to zero.
  zeroing_threshold:double (id: 4);
  // Buffer size for deciding if we are moving.
  moving_buffer_size:uint64 (id: 5);

  // Value between 0 and 1 indicating what fraction of one_revolution_distance
  // it is acceptable for the offset to move.
  allowable_encoder_error:double (id: 6);
}

table AbsoluteAndAbsoluteEncoderZeroingConstants {
  // The number of samples in the moving average filter.
  average_filter_size:uint64 (id: 0);
  // The distance that the absolute encoder needs to complete a full rotation.
  one_revolution_distance:double (id: 1);
  // Measured absolute position of the encoder when at zero.
  measured_absolute_position:double (id: 2);

  // The distance that the single turn absolute encoder needs to complete a full
  // rotation.
  single_turn_one_revolution_distance:double (id: 3);
  // Measured absolute position of the single turn encoder when at zero.
  single_turn_measured_absolute_position:double (id: 4);
  // Position of the middle of the range of motion in output coordinates.
  single_turn_middle_position:double (id: 5);

  // Threshold for deciding if we are moving. moving_buffer_size samples need to
  // be within this distance of each other before we use the middle one to zero.
  zeroing_threshold:double (id: 6);
  // Buffer size for deciding if we are moving.
  moving_buffer_size:uint64 (id: 7);

  // Value between 0 and 1 indicating what fraction of one_revolution_distance
  // it is acceptable for the offset to move.
  allowable_encoder_error:double (id: 8);
}