Add a swerve drivetrain writer
Signed-off-by: Nathan Leong <100028864@mvla.net>
Change-Id: I4750a4acba814e774befb0de4b0ba547ab67efcf
diff --git a/y2023/BUILD b/y2023/BUILD
index 992ba5d..e200f87 100644
--- a/y2023/BUILD
+++ b/y2023/BUILD
@@ -1,7 +1,6 @@
load("//frc971:downloader.bzl", "robot_downloader")
load("//aos:config.bzl", "aos_config")
load("//tools/build_rules:template.bzl", "jinja2_template")
-load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
load("//aos/util:config_validator_macro.bzl", "config_validator_test")
config_validator_test(
@@ -203,7 +202,7 @@
name = "config_roborio",
src = "y2023_roborio.json",
flatbuffers = [
- ":can_configuration_fbs",
+ "//frc971:can_configuration_fbs",
"//aos/network:remote_message_fbs",
"//aos/network:message_bridge_client_fbs",
"//aos/network:message_bridge_server_fbs",
@@ -271,7 +270,6 @@
],
target_compatible_with = ["//tools/platforms/hardware:roborio"],
deps = [
- ":can_configuration_fbs",
":constants",
"//aos:init",
"//aos:math",
@@ -283,6 +281,7 @@
"//aos/util:log_interval",
"//aos/util:phased_loop",
"//aos/util:wrapping_counter",
+ "//frc971:can_configuration_fbs",
"//frc971/autonomous:auto_mode_fbs",
"//frc971/control_loops:control_loop",
"//frc971/control_loops:control_loops_fbs",
@@ -384,12 +383,3 @@
"@com_github_google_glog//:glog",
],
)
-
-flatbuffer_cc_library(
- name = "can_configuration_fbs",
- srcs = [
- ":can_configuration.fbs",
- ],
- gen_reflections = 1,
- visibility = ["//visibility:public"],
-)
diff --git a/y2023/can_configuration.fbs b/y2023/can_configuration.fbs
deleted file mode 100644
index 75e2691..0000000
--- a/y2023/can_configuration.fbs
+++ /dev/null
@@ -1,10 +0,0 @@
-namespace y2023;
-
-// Message which triggers wpilib_interface to print out the current
-// configuration, and optionally re-apply it.
-table CANConfiguration {
- // If true, re-apply the configs to see if that fixes the falcon.
- reapply:bool = false (id: 0);
-}
-
-root_type CANConfiguration;
diff --git a/y2023/wpilib_interface.cc b/y2023/wpilib_interface.cc
index 7975163..abf11da 100644
--- a/y2023/wpilib_interface.cc
+++ b/y2023/wpilib_interface.cc
@@ -40,6 +40,7 @@
#include "aos/util/phased_loop.h"
#include "aos/util/wrapping_counter.h"
#include "frc971/autonomous/auto_mode_generated.h"
+#include "frc971/can_configuration_generated.h"
#include "frc971/control_loops/drivetrain/drivetrain_can_position_generated.h"
#include "frc971/control_loops/drivetrain/drivetrain_position_generated.h"
#include "frc971/input/robot_state_generated.h"
@@ -56,7 +57,6 @@
#include "frc971/wpilib/pdp_fetcher.h"
#include "frc971/wpilib/sensor_reader.h"
#include "frc971/wpilib/wpilib_robot_base.h"
-#include "y2023/can_configuration_generated.h"
#include "y2023/constants.h"
#include "y2023/control_loops/superstructure/led_indicator.h"
#include "y2023/control_loops/superstructure/superstructure_output_generated.h"
@@ -67,6 +67,7 @@
"devices on the CAN bus using Phoenix Tuner");
using ::aos::monotonic_clock;
+using ::frc971::CANConfiguration;
using ::y2023::constants::Values;
namespace superstructure = ::y2023::control_loops::superstructure;
namespace drivetrain = ::y2023::control_loops::drivetrain;
diff --git a/y2023/y2023_roborio.json b/y2023/y2023_roborio.json
index 33d9904..c1e42e6 100644
--- a/y2023/y2023_roborio.json
+++ b/y2023/y2023_roborio.json
@@ -300,7 +300,7 @@
},
{
"name": "/roborio",
- "type": "y2023.CANConfiguration",
+ "type": "frc971.CANConfiguration",
"source_node": "roborio",
"frequency": 2
},