Separate CANFalcon from drivetrain_can_position
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: Id72fb1e402b2fb756cd7005056c299726e1df8b4
diff --git a/frc971/control_loops/drivetrain/BUILD b/frc971/control_loops/drivetrain/BUILD
index 93b4a11..29a0e1d 100644
--- a/frc971/control_loops/drivetrain/BUILD
+++ b/frc971/control_loops/drivetrain/BUILD
@@ -11,6 +11,7 @@
name = "drivetrain_can_position_fbs",
srcs = ["drivetrain_can_position.fbs"],
gen_reflections = 1,
+ deps = ["//frc971/control_loops:can_falcon_fbs"],
)
flatbuffer_cc_library(
diff --git a/frc971/control_loops/drivetrain/drivetrain_can_position.fbs b/frc971/control_loops/drivetrain/drivetrain_can_position.fbs
index a44ef50..192f23d 100644
--- a/frc971/control_loops/drivetrain/drivetrain_can_position.fbs
+++ b/frc971/control_loops/drivetrain/drivetrain_can_position.fbs
@@ -1,30 +1,6 @@
+include "frc971/control_loops/can_falcon.fbs";
namespace frc971.control_loops.drivetrain;
-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);
-}
-
// CAN readings from the CAN sensor reader loop
table CANPosition {
falcons: [CANFalcon] (id: 0);