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_position.fbs b/y2019/control_loops/superstructure/superstructure_position.fbs
new file mode 100644
index 0000000..80a851e
--- /dev/null
+++ b/y2019/control_loops/superstructure/superstructure_position.fbs
@@ -0,0 +1,30 @@
+include "frc971/control_loops/control_loops.fbs";
+
+namespace y2019.control_loops.superstructure;
+
+table Position {
+ // Input from pressure sensor in bar
+ // 1 = 1 atm, 0 = full vacuum
+ suction_pressure:float;
+
+ // Position of the elevator, 0 at lowest position, positive when up.
+ elevator:frc971.PotAndAbsolutePosition;
+
+ // Position of wrist, 0 when up, positive is rotating toward the front,
+ // over the top.
+ wrist:frc971.PotAndAbsolutePosition;
+
+ // Position of the intake. 0 when rollers are retracted, positive extended.
+ intake_joint:frc971.AbsolutePosition;
+
+ // Position of the stilts, 0 when retracted (defualt), positive lifts robot.
+ stilts:frc971.PotAndAbsolutePosition;
+
+ // True if the platform detection sensors detect the platform directly
+ // below the robot right behind the left and right wheels. Useful for
+ // determining when the robot is all the way on the platform.
+ platform_left_detect:bool;
+ platform_right_detect:bool;
+}
+
+root_type Position;