Move the swerve_drivetrain*.fbs files to frc971/control_loop/swerve
We had ended up with multiple folders, which was irritating.
Also, get rid of the speed fields of the position message until we can
do something with them.
Change-Id: I0eb48bfa8390e361e587f5b4c6c6fc122d730e16
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/frc971/control_loops/drivetrain/swerve/BUILD b/frc971/control_loops/drivetrain/swerve/BUILD
deleted file mode 100644
index 5b94fa8..0000000
--- a/frc971/control_loops/drivetrain/swerve/BUILD
+++ /dev/null
@@ -1,13 +0,0 @@
-load("//aos/flatbuffers:generate.bzl", "static_flatbuffer")
-
-package(default_visibility = ["//visibility:public"])
-
-static_flatbuffer(
- name = "swerve_drivetrain_output_fbs",
- srcs = ["swerve_drivetrain_output.fbs"],
-)
-
-static_flatbuffer(
- name = "swerve_drivetrain_position_fbs",
- srcs = ["swerve_drivetrain_position.fbs"],
-)
diff --git a/frc971/control_loops/swerve/BUILD b/frc971/control_loops/swerve/BUILD
index e411fc9..4e06932 100644
--- a/frc971/control_loops/swerve/BUILD
+++ b/frc971/control_loops/swerve/BUILD
@@ -1,3 +1,19 @@
+load("//aos/flatbuffers:generate.bzl", "static_flatbuffer")
+
+static_flatbuffer(
+ name = "swerve_drivetrain_output_fbs",
+ srcs = ["swerve_drivetrain_output.fbs"],
+ visibility = ["//visibility:public"],
+ deps = ["//frc971/control_loops:can_talonfx_fbs"],
+)
+
+static_flatbuffer(
+ name = "swerve_drivetrain_position_fbs",
+ srcs = ["swerve_drivetrain_position.fbs"],
+ visibility = ["//visibility:public"],
+ deps = ["//frc971/control_loops:control_loops_fbs"],
+)
+
py_binary(
name = "simulation",
srcs = [
diff --git a/frc971/control_loops/drivetrain/swerve/swerve_drivetrain_output.fbs b/frc971/control_loops/swerve/swerve_drivetrain_output.fbs
similarity index 100%
rename from frc971/control_loops/drivetrain/swerve/swerve_drivetrain_output.fbs
rename to frc971/control_loops/swerve/swerve_drivetrain_output.fbs
diff --git a/frc971/control_loops/drivetrain/swerve/swerve_drivetrain_position.fbs b/frc971/control_loops/swerve/swerve_drivetrain_position.fbs
similarity index 80%
rename from frc971/control_loops/drivetrain/swerve/swerve_drivetrain_position.fbs
rename to frc971/control_loops/swerve/swerve_drivetrain_position.fbs
index e0f5571..bad8af1 100644
--- a/frc971/control_loops/drivetrain/swerve/swerve_drivetrain_position.fbs
+++ b/frc971/control_loops/swerve/swerve_drivetrain_position.fbs
@@ -5,11 +5,6 @@
rotation_encoder:double (id: 0);
// Translation in meters
translation_encoder:double (id: 1);
-
- // Speed in radians/s
- rotation_speed:double (id: 2);
- // Speed in m/s
- translation_speed:double (id: 3);
}
table Position {
diff --git a/frc971/wpilib/swerve/BUILD b/frc971/wpilib/swerve/BUILD
index 4493781..8eb5651 100644
--- a/frc971/wpilib/swerve/BUILD
+++ b/frc971/wpilib/swerve/BUILD
@@ -12,7 +12,7 @@
":swerve_module",
"//aos/logging",
"//frc971:can_configuration_fbs",
- "//frc971/control_loops/drivetrain/swerve:swerve_drivetrain_output_fbs",
+ "//frc971/control_loops/swerve:swerve_drivetrain_output_fbs",
"//frc971/wpilib:loop_output_handler",
"//frc971/wpilib:talonfx",
"//third_party:phoenix6",
diff --git a/frc971/wpilib/swerve/swerve_drivetrain_writer.h b/frc971/wpilib/swerve/swerve_drivetrain_writer.h
index 8e9e616..16db158 100644
--- a/frc971/wpilib/swerve/swerve_drivetrain_writer.h
+++ b/frc971/wpilib/swerve/swerve_drivetrain_writer.h
@@ -4,7 +4,7 @@
#include "ctre/phoenix6/TalonFX.hpp"
#include "frc971/can_configuration_generated.h"
-#include "frc971/control_loops/drivetrain/swerve/swerve_drivetrain_output_generated.h"
+#include "frc971/control_loops/swerve/swerve_drivetrain_output_generated.h"
#include "frc971/wpilib/loop_output_handler.h"
#include "frc971/wpilib/swerve/swerve_module.h"
#include "frc971/wpilib/talonfx.h"
diff --git a/frc971/wpilib/swerve/swerve_module.h b/frc971/wpilib/swerve/swerve_module.h
index c373a31..729ebab 100644
--- a/frc971/wpilib/swerve/swerve_module.h
+++ b/frc971/wpilib/swerve/swerve_module.h
@@ -1,6 +1,7 @@
#ifndef FRC971_WPILIB_SWERVE_SWERVE_MODULE_H_
#define FRC971_WPILIB_SWERVE_SWERVE_MODULE_H_
+#include "frc971/control_loops/swerve/swerve_drivetrain_output_generated.h"
#include "frc971/wpilib/talonfx.h"
namespace frc971::wpilib::swerve {