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_status.fbs b/y2019/control_loops/superstructure/superstructure_status.fbs
new file mode 100644
index 0000000..9d3f44e
--- /dev/null
+++ b/y2019/control_loops/superstructure/superstructure_status.fbs
@@ -0,0 +1,23 @@
+include "frc971/control_loops/control_loops.fbs";
+include "frc971/control_loops/profiled_subsystem.fbs";
+
+namespace y2019.control_loops.superstructure;
+
+table Status {
+ // All subsystems know their location.
+ zeroed:bool;
+
+ // If true, we have aborted. This is the or of all subsystem estops.
+ estopped:bool;
+
+ // Whether suction_pressure indicates cargo is held
+ has_piece:bool;
+
+ // Status of each subsystem.
+ elevator:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus;
+ wrist:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus;
+ intake:frc971.control_loops.AbsoluteEncoderProfiledJointStatus;
+ stilts:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus;
+}
+
+root_type Status;