Allow constructing control loops from flatbuffers
The core changes here are to:
* Allow constructing StateFeedbackLoop's from flatbuffers using the
code in *state_feedback_loop_converters.*
* Add constructors to the single-dof subsystem class to make use of
this.
* Add code to control_loops.py to generate JSON files with the requisite
constants (these end up containing identical information to the
generated .cc files).
* Add interfaces to actually support the new JSON codegen to single-dof
subsystem classes.
* Convert all of the drivetrains over to generating these. This I mostly
do so that I can write a test where Iconfirm that the .cc files and
the JSON files generate exactly the same content.
Change-Id: Iceac48f25ecac96200b7bf992c8f34a15fe6800c
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/frc971/control_loops/state_feedback_loop.h b/frc971/control_loops/state_feedback_loop.h
index c5d05c1..3c90434 100644
--- a/frc971/control_loops/state_feedback_loop.h
+++ b/frc971/control_loops/state_feedback_loop.h
@@ -463,7 +463,8 @@
private:
// Internal state estimate.
- Eigen::Matrix<Scalar, number_of_states, 1> X_hat_;
+ Eigen::Matrix<Scalar, number_of_states, 1> X_hat_ =
+ Eigen::Matrix<Scalar, number_of_states, 1>::Zero();
Eigen::Matrix<Scalar, number_of_inputs, Eigen::Dynamic> last_U_;
int index_ = 0;