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/y2018/control_loops/superstructure/superstructure_goal.fbs b/y2018/control_loops/superstructure/superstructure_goal.fbs
new file mode 100644
index 0000000..b618c1b
--- /dev/null
+++ b/y2018/control_loops/superstructure/superstructure_goal.fbs
@@ -0,0 +1,39 @@
+include "frc971/control_loops/control_loops.fbs";
+
+namespace y2018.control_loops.superstructure;
+
+table IntakeGoal {
+ roller_voltage:double;
+
+ // Goal angle in radians of the intake.
+ // Zero radians is where the intake is pointing straight out, with positive
+ // radians inward towards the cube.
+ left_intake_angle:double;
+ right_intake_angle:double;
+}
+
+table Goal {
+ intake:IntakeGoal;
+
+ // Used to identiy a position in the planned set of positions on the arm.
+ arm_goal_position:uint;
+ // If true, start the grab box sequence.
+ grab_box:bool;
+
+ open_claw:bool;
+ close_claw:bool;
+
+ deploy_fork:bool;
+
+ hook_release:bool;
+
+ voltage_winch:double;
+
+ open_threshold:double;
+
+ disable_box_correct:bool;
+
+ trajectory_override:bool;
+}
+
+root_type Goal;