Separate CANFalcon from drivetrain_can_position
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: Id72fb1e402b2fb756cd7005056c299726e1df8b4
diff --git a/frc971/control_loops/can_falcon.fbs b/frc971/control_loops/can_falcon.fbs
new file mode 100644
index 0000000..2adbae0
--- /dev/null
+++ b/frc971/control_loops/can_falcon.fbs
@@ -0,0 +1,26 @@
+namespace frc971.control_loops;
+
+table CANFalcon {
+ // The CAN id of the falcon
+ id:int (id: 0);
+
+ // In Amps
+ supply_current:float (id: 1);
+
+ // In Amps
+ // Stator current where positive current means torque is applied in
+ // the motor's forward direction as determined by its Inverted setting.
+ torque_current:float (id: 2);
+
+ // In Volts
+ supply_voltage:float (id: 3);
+
+ // In degrees Celsius
+ device_temp:float (id: 4);
+
+ // In meters traveled on the drivetrain
+ position:float (id: 5);
+
+ // Nominal range is -1 to 1, but can be -2 to +2
+ duty_cycle: float (id: 6);
+}