Add code for swerve drivebase experiments
Signed-off-by: Maxwell Henderson <maxwell.henderson@mailbox.org>
Change-Id: I24701125e0826d46845cc85abdae8dff52b7c678
diff --git a/y2023_bot4/drivetrain_can_position.fbs b/y2023_bot4/drivetrain_can_position.fbs
new file mode 100644
index 0000000..e8c1235
--- /dev/null
+++ b/y2023_bot4/drivetrain_can_position.fbs
@@ -0,0 +1,17 @@
+include "frc971/control_loops/can_falcon.fbs";
+namespace y2023_bot4;
+
+table SwerveModuleCANPosition {
+ rotation: frc971.control_loops.CANFalcon (id: 0);
+ translation: frc971.control_loops.CANFalcon (id: 1);
+}
+
+// CAN Readings from the CAN sensor reader loop for each swerve module
+table AbsoluteCANPosition {
+ front_left: SwerveModuleCANPosition (id: 0);
+ front_right: SwerveModuleCANPosition (id: 1);
+ back_left: SwerveModuleCANPosition (id: 2);
+ back_right: SwerveModuleCANPosition (id: 3);
+}
+
+root_type AbsoluteCANPosition;