Convert aos over to flatbuffers
Everything builds, and all the tests pass. I suspect that some entries
are missing from the config files, but those will be found pretty
quickly on startup.
There is no logging or live introspection of queue messages.
Change-Id: I496ee01ed68f202c7851bed7e8786cee30df29f5
diff --git a/y2016/control_loops/shooter/shooter_goal.fbs b/y2016/control_loops/shooter/shooter_goal.fbs
new file mode 100644
index 0000000..f041503
--- /dev/null
+++ b/y2016/control_loops/shooter/shooter_goal.fbs
@@ -0,0 +1,23 @@
+namespace y2016.control_loops.shooter;
+
+// All angles are in radians, and angular velocities are in radians/second.
+// For all angular velocities, positive is shooting the ball out of the robot.
+table Goal {
+ // Angular velocity goals in radians/second.
+ angular_velocity:double;
+
+ clamp_open:bool; // True to release our clamp on the ball.
+ // True to push the ball into the shooter.
+ // If we are in the act of shooting with a goal velocity != 0, wait until it
+ // is up to speed, push the ball into the shooter, and then wait until it
+ // spins up and down before letting the piston be released.
+ push_to_shooter:bool;
+
+ // Forces the lights on.
+ force_lights_on:bool;
+
+ // If true, the robot is shooting forwards.
+ shooting_forwards:bool;
+}
+
+root_type Goal;