Make zeroing constants structs flatbuffers
This defines all the zeroing structs as flatbuffers and then converts
everything to use the FlatbufferT types.
This is in service of moving zeroing constants into flatbuffers.
Change-Id: Ied7ac78cfcba0f66b4b684fd9e49a49276e55169
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/frc971/control_loops/control_loops.fbs b/frc971/control_loops/control_loops.fbs
index da2dc05..db2695e 100644
--- a/frc971/control_loops/control_loops.fbs
+++ b/frc971/control_loops/control_loops.fbs
@@ -256,6 +256,13 @@
max_acceleration:float (id: 1);
}
+table Range {
+ lower_hard:double (id: 0);
+ upper_hard:double (id: 1);
+ lower:double (id: 2);
+ upper:double (id: 3);
+}
+
enum ConstraintType : byte {
CONSTRAINT_TYPE_UNDEFINED,
LONGITUDINAL_ACCELERATION,
diff --git a/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.cc b/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.cc
index ace528e..f9dfd8d 100644
--- a/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.cc
+++ b/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.cc
@@ -83,13 +83,14 @@
const frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator::ZeroingConstants
TestIntakeSystemValues<
frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator>::kZeroing{
- kZeroingSampleSize, kEncoderIndexDifference, 0, 0.0005, 20, 1.9};
+ {}, kZeroingSampleSize, kEncoderIndexDifference, 0, 0.0005, 20, 1.9};
template <>
const frc971::zeroing::AbsoluteEncoderZeroingEstimator::ZeroingConstants
TestIntakeSystemValues<
frc971::zeroing::AbsoluteEncoderZeroingEstimator>::kZeroing{
- kZeroingSampleSize, kEncoderIndexDifference, 0.0, 0.2, 0.0005, 20, 1.9};
+ {}, kZeroingSampleSize, kEncoderIndexDifference, 0.0, 0.2, 0.0005, 20,
+ 1.9};
template <typename ZeroingEstimator>
const StaticZeroingSingleDOFProfiledSubsystemParams<ZeroingEstimator>