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/y2017/control_loops/superstructure/superstructure_position.fbs b/y2017/control_loops/superstructure/superstructure_position.fbs
new file mode 100644
index 0000000..7f95462
--- /dev/null
+++ b/y2017/control_loops/superstructure/superstructure_position.fbs
@@ -0,0 +1,31 @@
+include "frc971/control_loops/control_loops.fbs";
+
+namespace y2017.control_loops.superstructure;
+
+table ColumnPosition {
+ // Indexer angle in radians relative to the base. Positive is according to
+ // the right hand rule around +z.
+ indexer:frc971.HallEffectAndPosition;
+ // Turret angle in radians relative to the indexer. Positive is the same as
+ // the indexer.
+ turret:frc971.HallEffectAndPosition;
+}
+
+
+table Position {
+ // Position of the intake, zero when the intake is in, positive when it is
+ // out.
+ intake:frc971.PotAndAbsolutePosition;
+
+ // The position of the column.
+ column:ColumnPosition;
+
+ // The sensor readings for the hood. The units and sign are defined the
+ // same as what's in the Goal message.
+ hood:frc971.IndexPosition;
+
+ // Shooter wheel angle in radians.
+ theta_shooter:double;
+}
+
+root_type Position;