frc971/input/robot_state.fbs

namespace aos;

// This message is sent out on this queue when sensors are read. It contains
// global robot state and information about whether the process reading sensors
// has been restarted, along with all counters etc it keeps track of.  It is
// published on "/aos"
table RobotState {
  // The PID of the process reading sensors.
  // This is here so control loops can tell when it changes.
  reader_pid:int (id: 0);

  // True when outputs are enabled.
  // Motor controllers keep going for a bit after this goes to false.
  outputs_enabled:bool (id: 1);
  // Indicates whether something is browned out (I think motor controller
  // outputs). IMPORTANT: This is NOT !outputs_enabled. outputs_enabled goes to
  // false for other reasons too (disabled, e-stopped, maybe more).
  browned_out:bool (id: 2);

  // Whether the two sensor rails are currently working.
  is_3v3_active:bool (id: 3);
  is_5v_active:bool (id: 4);
  // The current voltages measured on the two sensor rails.
  voltage_3v3:double (id: 5);
  voltage_5v:double (id: 6);

  // The input voltage to the roboRIO.
  voltage_roborio_in:double (id: 7);

  // From the DriverStation object, aka what FMS sees and what shows up on the
  // actual driver's station.
  voltage_battery:double (id: 8);

  // User button state
  user_button:bool (id: 9);
}

root_type RobotState;