Add code for swerve drivebase experiments
Signed-off-by: Maxwell Henderson <maxwell.henderson@mailbox.org>
Change-Id: I24701125e0826d46845cc85abdae8dff52b7c678
diff --git a/y2023_bot4/drivetrain_position.fbs b/y2023_bot4/drivetrain_position.fbs
new file mode 100644
index 0000000..e5d0fc3
--- /dev/null
+++ b/y2023_bot4/drivetrain_position.fbs
@@ -0,0 +1,16 @@
+include "frc971/control_loops/control_loops.fbs";
+namespace y2023_bot4;
+
+table AbsoluteDrivetrainPosition {
+ // Position of the follower wheels from the encoders
+ follower_wheel_one_position:double (id: 0);
+ follower_wheel_two_position:double (id: 1);
+
+ // Position from the mag encoder on each module.
+ front_left_position: frc971.AbsolutePosition (id: 2);
+ front_right_position: frc971.AbsolutePosition (id: 3);
+ back_left_position: frc971.AbsolutePosition (id: 4);
+ back_right_position: frc971.AbsolutePosition (id: 5);
+}
+
+root_type AbsoluteDrivetrainPosition;