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_output.fbs b/y2018/control_loops/superstructure/superstructure_output.fbs
new file mode 100644
index 0000000..f4d62da
--- /dev/null
+++ b/y2018/control_loops/superstructure/superstructure_output.fbs
@@ -0,0 +1,40 @@
+namespace y2018.control_loops.superstructure;
+
+table IntakeVoltage {
+ // Voltage of the motors on the series elastic on one side (left or right) of
+ // the intake.
+ voltage_elastic:double;
+
+ // Voltage of the rollers on one side (left or right) of the intake.
+ voltage_rollers:double;
+}
+
+table Output {
+ // Voltage sent to the parts on the left side of the intake.
+ left_intake:IntakeVoltage;
+
+ // Voltage sent to the parts on the right side of the intake.
+ right_intake:IntakeVoltage;
+
+ // Voltage sent to the motors on the proximal joint of the arm.
+ voltage_proximal:double;
+
+ // Voltage sent to the motors on the distal joint of the arm.
+ voltage_distal:double;
+
+ // Voltage sent to the hanger. Positive pulls the robot up.
+ voltage_winch:double;
+
+ // Clamped (when true) or unclamped (when false) status sent to the
+ // pneumatic claw on the arm.
+ claw_grabbed:bool;
+
+ // If true, release the arm brakes.
+ release_arm_brake:bool;
+ // If true, release the hook
+ hook_release:bool;
+ // If true, release the forks
+ forks_release:bool;
+}
+
+root_type Output;