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_status.fbs b/y2016/control_loops/shooter/shooter_status.fbs
new file mode 100644
index 0000000..6f6262b
--- /dev/null
+++ b/y2016/control_loops/shooter/shooter_status.fbs
@@ -0,0 +1,27 @@
+namespace y2016.control_loops.shooter;
+
+table ShooterSideStatus {
+ // True if the shooter side is up to speed and stable.
+ ready:bool;
+ // The current average velocity in radians/second.
+ avg_angular_velocity:double;
+ // The current instantaneous filtered velocity in radians/second.
+ angular_velocity:double;
+}
+
+table Status {
+ // Left side status.
+ left:ShooterSideStatus;
+ // Right side status.
+ right:ShooterSideStatus;
+
+ // True if the shooter is ready. It is better to compare the velocities
+ // directly so there isn't confusion on if the goal is up to date.
+ ready:bool;
+
+ // The number of shots that have been fired since the start of the shooter
+ // control loop.
+ shots:uint;
+}
+
+root_type Status;