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/y2019/control_loops/superstructure/superstructure_goal.fbs b/y2019/control_loops/superstructure/superstructure_goal.fbs
new file mode 100644
index 0000000..77e7c8d
--- /dev/null
+++ b/y2019/control_loops/superstructure/superstructure_goal.fbs
@@ -0,0 +1,37 @@
+include "frc971/control_loops/profiled_subsystem.fbs";
+
+namespace y2019.control_loops.superstructure;
+
+table SuctionGoal {
+ // True = apply suction
+ grab_piece:bool;
+
+ // 0 = ball mode
+ // 1 = disk mode
+
+ gamepiece_mode:int;
+}
+
+table Goal {
+ // Meters, 0 = lowest position - mechanical hard stop,
+ // positive = upward
+ elevator:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal;
+ // 0 = linkage on the sprocket is pointing straight up,
+ // positive = forward
+ intake:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal;
+ // 0 = Straight up parallel to elevator
+ // Positive rotates toward intake from 0
+ wrist:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal;
+
+ // Distance stilts extended out of the bottom of the robot. Positive = down.
+ // 0 is the height such that the bottom of the stilts is tangent to the
+ // bottom of the middle wheels.
+ stilts:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal;
+
+ // Positive is rollers intaking inward.
+ roller_voltage:float;
+
+ suction:SuctionGoal;
+}
+
+root_type Goal;