frc971/control_loops/can_talonfx.fbs

namespace frc971.control_loops;

table CANTalonFX {
  // The CAN id of the talonfx motor
  id:int (id: 0);

  // In Amps
  supply_current:float (id: 1);

  // In Amps
  // Stator current where positive current means torque is applied in
  // the motor's forward direction as determined by its Inverted setting.
  torque_current:float (id: 2);

  // In Volts
  supply_voltage:float (id: 3);

  // In degrees Celsius
  device_temp:float (id: 4);

  // In meters traveled on the drivetrain
  position:float (id: 5);

  // Nominal range is -1 to 1, but can be -2 to +2
  duty_cycle:float (id: 6);

  // The timestamp of the measurement on the canivore clock in nanoseconds
  // This will have less jitter than the
  // timestamp of the message being sent out.
  timestamp:int64 (id: 7);
}