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_output.fbs b/y2019/control_loops/superstructure/superstructure_output.fbs
new file mode 100644
index 0000000..b679347
--- /dev/null
+++ b/y2019/control_loops/superstructure/superstructure_output.fbs
@@ -0,0 +1,30 @@
+namespace y2019.control_loops.superstructure;
+
+table Output {
+ // Voltage sent to motors moving elevator up/down. Positive is up.
+ elevator_voltage:double;
+
+ // Voltage sent to wrist motors on elevator to rotate.
+ // Positive rotates over the top towards the front of the robot.
+ wrist_voltage:double;
+
+ // Voltage sent to motors on intake joint. Positive extends rollers.
+ intake_joint_voltage:double;
+
+ // Voltage sent to rollers on intake. Positive rolls inward.
+ intake_roller_voltage:double;
+
+ // Voltage sent to motors to move stilts height. Positive moves robot
+ // upward.
+ stilts_voltage:double;
+
+ // True opens solenoid (applies suction)
+ // Top/bottom are when wrist is toward the front of the robot
+ intake_suction_top:bool;
+ intake_suction_bottom:bool;
+
+ // Voltage sent to the vacuum pump motors.
+ pump_voltage:double;
+}
+
+root_type Output;