Allow pre-compiling arm trajectories
The robot takes a while before it's usable because it has to re-optimize
the arm trajectories when it runs. This commit takes the outputted c++
from graph_codegen and optimizes the trajectories before the robot
runs. It then puts them into a bfbs which is able to be placed on the
robot and read.
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: Ic75f9d590d6b89bfd5eed8b804e73c8c84ecec6b
diff --git a/y2023/control_loops/superstructure/BUILD b/y2023/control_loops/superstructure/BUILD
index 5da5250..e6f14aa 100644
--- a/y2023/control_loops/superstructure/BUILD
+++ b/y2023/control_loops/superstructure/BUILD
@@ -87,6 +87,9 @@
hdrs = [
"superstructure.h",
],
+ data = [
+ "//y2023/control_loops/superstructure/arm:arm_trajectories_generated.bfbs",
+ ],
deps = [
":end_effector",
":superstructure_goal_fbs",
@@ -100,6 +103,7 @@
"//y2023:constants",
"//y2023/control_loops/drivetrain:drivetrain_can_position_fbs",
"//y2023/control_loops/superstructure/arm",
+ "//y2023/control_loops/superstructure/arm:arm_trajectories_fbs",
],
)
@@ -129,6 +133,7 @@
":superstructure_output_fbs",
":superstructure_position_fbs",
":superstructure_status_fbs",
+ "//aos:json_to_flatbuffer",
"//aos:math",
"//aos/events/logging:log_writer",
"//aos/testing:googletest",