Add fbs files and config modifications for localizer
Creates a LocalizerStatus channel for the status, a LocalizerOutput for
the minimal output to be forwarded to the roborio for it to correct its
localizer, and adds an IMUValuesBatch channel on an imu pi.
Does not yet remove the old IMUValuesBatch channel in y2022.
Change-Id: I217f6a9c1f482c6db1a36b8a37eabd0e7bb7e2a4
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2022/control_loops/localizer/localizer_output.fbs b/y2022/control_loops/localizer/localizer_output.fbs
new file mode 100644
index 0000000..078d723
--- /dev/null
+++ b/y2022/control_loops/localizer/localizer_output.fbs
@@ -0,0 +1,17 @@
+namespace frc971.controls;
+
+// This provides a minimal output from the localizer that can be forwarded to
+// the roborio and used for corrections to its (simpler) localizer.
+
+table LocalizerOutput {
+ // Timestamp (on the source node) that this sample corresponds with. This
+ // may be older than the sent time to account for delays in sensor readings.
+ monotonic_timestamp_ns:int64 (id: 0);
+ // Current x/y position estimate, in meters.
+ x:double (id: 1);
+ y:double (id: 2);
+ // Current heading, in radians.
+ theta:double (id: 3);
+}
+
+root_type LocalizerOutput;