commit eaba6d9c477e1bfdcf1a813a80d6ab461ee3c7d0
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Wed Jul 31 20:42:20 2024 -0700
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Sat Aug 10 11:46:59 2024 -0700
tree 44dae0599a087b91f6bdcb13a1023303850cc4cf
parent 4f1a5506c74c04e3d6504045f380e660abe52320

Update swerve_publisher to use Goal message

Rather than attempting to send raw outputs, send the goal instead. This
also updates the swerve_publisher to handle Ctrl-C's more cleanly.

Change-Id: Ibdfe94d48295c184083c90b8672986433737bfa7
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

y2024_swerve/BUILD

diff --git a/y2024_swerve/BUILD b/y2024_swerve/BUILD
index 133f11d..79bd079 100644
--- a/y2024_swerve/BUILD
+++ b/y2024_swerve/BUILD
@@ -16,7 +16,7 @@
     ],
     data = [
         ":aos_config",
-        ":swerve_publisher_output_json",
+        ":swerve_publisher_goal_json",
         "//y2024_swerve/constants:constants.json",
         "@ctre_phoenix6_api_cpp_athena//:shared_libraries",
         "@ctre_phoenix6_tools_athena//:shared_libraries",
@@ -85,9 +85,9 @@
 )
 
 filegroup(
-    name = "swerve_publisher_output_json",
+    name = "swerve_publisher_goal_json",
     srcs = [
-        "swerve_drivetrain_output.json",
+        "swerve_drivetrain_goal.json",
     ],
     visibility = ["//y2024_swerve:__subpackages__"],
 )
@@ -127,7 +127,7 @@
     deps = [
         "//aos:init",
         "//aos/events:event_loop",
-        "//frc971/control_loops/swerve:swerve_drivetrain_output_fbs",
+        "//frc971/control_loops/swerve:swerve_drivetrain_goal_fbs",
         "@com_google_absl//absl/log",
         "@com_google_absl//absl/log:check",
     ],
@@ -140,7 +140,7 @@
     ],
     data = [
         ":aos_config",
-        ":swerve_publisher_output_json",
+        ":swerve_publisher_goal_json",
     ],
     deps = [
         ":swerve_publisher_lib",