Update AOS configs for swerve drivebase
This makes a bunch of sundry fixes to get the AOS configs for the swerve
drivebase happy.
Signed-off-by: Nikolai Sohmers <nikolai@sohmers.com>
Change-Id: I151e6d5c6d3802c915efaac8472d799e1cfc915c
diff --git a/y2024_swerve/BUILD b/y2024_swerve/BUILD
index 26c3d05..2570141 100644
--- a/y2024_swerve/BUILD
+++ b/y2024_swerve/BUILD
@@ -17,6 +17,7 @@
data = [
":aos_config",
":swerve_publisher_output_json",
+ "//y2024_swerve/constants:constants.json",
"@ctre_phoenix6_api_cpp_athena//:shared_libraries",
"@ctre_phoenix6_tools_athena//:shared_libraries",
"@ctre_phoenix_api_cpp_athena//:shared_libraries",
@@ -194,12 +195,16 @@
src = "y2024_swerve_roborio.json",
flatbuffers = [
"//frc971:can_configuration_fbs",
+ "//frc971/queues:gyro_fbs",
"//aos/network:remote_message_fbs",
"//aos/network:message_bridge_client_fbs",
"//aos/network:message_bridge_server_fbs",
"//aos/network:timestamp_fbs",
+ "//frc971/control_loops/swerve:swerve_drivetrain_goal_fbs",
+ "//frc971/control_loops/swerve:swerve_drivetrain_status_fbs",
"//frc971/control_loops/swerve:swerve_drivetrain_output_fbs",
"//frc971/control_loops/swerve:swerve_drivetrain_position_fbs",
+ "//y2024_swerve/constants:constants_fbs",
"//frc971/control_loops/swerve:swerve_drivetrain_can_position_fbs",
"//frc971/control_loops/drivetrain:drivetrain_can_position_fbs",
"//frc971/can_logger:can_logging_fbs",
diff --git a/y2024_swerve/y2024_swerve_imu.json b/y2024_swerve/y2024_swerve_imu.json
index c87faf5..b9d8117 100644
--- a/y2024_swerve/y2024_swerve_imu.json
+++ b/y2024_swerve/y2024_swerve_imu.json
@@ -41,8 +41,8 @@
"type": "aos.timing.Report",
"source_node": "imu",
"frequency": 50,
- "num_senders": 20,
- "max_size": 8552
+ "num_senders": 30,
+ "max_size": 16384
},
{
"name": "/imu/aos",
@@ -57,7 +57,7 @@
"source_node": "imu",
"frequency": 50,
"num_senders": 20,
- "max_size": 4608
+ "max_size": 6912
},
{
"name": "/imu/aos",
@@ -98,6 +98,7 @@
"roborio"
],
"max_size": 400,
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
"destination_nodes": [
{
"name": "orin1",
@@ -220,7 +221,7 @@
"max_size": 200
},
{
- "name": "/imu/can/cana",
+ "name": "/imu/can",
"type": "frc971.can_logger.CanFrame",
"source_node": "imu",
"frequency": 9000,
@@ -337,7 +338,7 @@
"name": "can_translator",
"executable_name": "can_translator",
"args": [
- "--channel=/can/cana"
+ "--channel=/can"
],
"nodes": [
"imu"
@@ -551,6 +552,7 @@
"hostname": "orin2",
"hostnames": [
"orin-971-2",
+ "orin-6971-2",
"orin-7971-2",
"orin-8971-2",
"orin-9971-2"
diff --git a/y2024_swerve/y2024_swerve_orin1.json b/y2024_swerve/y2024_swerve_orin1.json
index 64c015f..6615a03 100644
--- a/y2024_swerve/y2024_swerve_orin1.json
+++ b/y2024_swerve/y2024_swerve_orin1.json
@@ -27,7 +27,7 @@
"source_node": "orin1",
"frequency": 50,
"num_senders": 20,
- "max_size": 4096
+ "max_size": 6144
},
{
"name": "/orin1/aos",
@@ -389,25 +389,6 @@
"orin1"
]
},
- {
- "name": "image_streamer",
- "executable_name": "image_streamer",
- "args": [
- "--device=/dev/uvcvideo",
- "--height=480",
- "--width=640",
- "--nopublish_images",
- "--exposure=0",
- "--framerate=30",
- "--streaming_port=1181",
- "--bitrate=2000000",
- "--data_dir=/home/pi/bin/image_streamer_www"
- ],
- "user": "pi",
- "nodes": [
- "orin1"
- ]
- }
],
"maps": [
{
@@ -453,6 +434,7 @@
"hostname": "orin1",
"hostnames": [
"orin-971-1",
+ "orin-6971-1",
"orin-7971-1",
"orin-8971-1",
"orin-9971-1"
diff --git a/y2024_swerve/y2024_swerve_roborio.json b/y2024_swerve/y2024_swerve_roborio.json
index e5e40dd..705370d 100644
--- a/y2024_swerve/y2024_swerve_roborio.json
+++ b/y2024_swerve/y2024_swerve_roborio.json
@@ -26,10 +26,17 @@
"max_size": 8192
},
{
+ "name": "/roborio/drivetrain",
+ "type": "frc971.sensors.GyroReading",
+ "source_node": "roborio",
+ "frequency": 250,
+ "num_senders": 2
+ },
+ {
"name": "/roborio/aos",
"type": "aos.RobotState",
"source_node": "roborio",
- "frequency": 50,
+ "frequency": 250,
"num_senders": 20,
"max_size": 192
},
@@ -47,7 +54,7 @@
"source_node": "roborio",
"frequency": 50,
"num_senders": 20,
- "max_size": 3000
+ "max_size": 8192
},
{
"name": "/roborio/aos",
@@ -135,6 +142,19 @@
},
{
"name": "/roborio/drivetrain",
+ "type": "frc971.control_loops.swerve.Goal",
+ "source_node": "roborio",
+ "frequency": 250
+ },
+ {
+ "name": "/roborio/drivetrain",
+ "type": "frc971.control_loops.swerve.Status",
+ "source_node": "roborio",
+ "max_size": 2056,
+ "frequency": 250
+ },
+ {
+ "name": "/roborio/drivetrain",
"type": "frc971.control_loops.swerve.Position",
"source_node": "roborio",
"frequency": 250,
@@ -270,6 +290,14 @@
"type": "frc971.CANConfiguration",
"source_node": "roborio",
"frequency": 2
+ },
+ {
+ "name": "/roborio/constants",
+ "type": "y2024_swerve.Constants",
+ "source_node": "roborio",
+ "frequency": 1,
+ "num_senders": 2,
+ "max_size": 65536
}
],
"applications": [
@@ -293,6 +321,14 @@
]
},
{
+ "name": "constants_sender_roborio",
+ "executable_name": "constants_sender",
+ "autorestart": false,
+ "nodes": [
+ "roborio"
+ ]
+ },
+ {
"name": "roborio_web_proxy",
"executable_name": "web_proxy_main",
"args": [
@@ -338,8 +374,15 @@
]
},
{
+ "name": "swerve_control_loops",
+ "nodes": [
+ "roborio"
+ ]
+ },
+ {
"name": "can_logger",
"executable_name": "can_logger",
+ "autostart": false,
"nodes": [
"roborio"
]
@@ -381,6 +424,15 @@
"rename": {
"name": "/roborio/drivetrain"
}
+ },
+ {
+ "match": {
+ "name": "/constants*",
+ "source_node": "roborio"
+ },
+ "rename": {
+ "name": "/roborio/constants"
+ }
}
],
"nodes": [