Add ids to flatbuffer fields in y2012, y2016, frc971, and aos
Change-Id: I9ed9006ce6224e2df0459df47771786b928164a1
diff --git a/frc971/control_loops/profiled_subsystem.fbs b/frc971/control_loops/profiled_subsystem.fbs
index 185133b..9ecb98c 100644
--- a/frc971/control_loops/profiled_subsystem.fbs
+++ b/frc971/control_loops/profiled_subsystem.fbs
@@ -4,244 +4,244 @@
table ProfiledJointStatus {
// Is the subsystem zeroed?
- zeroed:bool;
+ zeroed:bool (id: 0);
// The state of the subsystem, if applicable. -1 otherwise.
// TODO(alex): replace with enum.
- state:int;
+ state:int (id: 1);
// If true, we have aborted.
- estopped:bool;
+ estopped:bool (id: 2);
// Position of the joint.
- position:float;
+ position:float (id: 3);
// Velocity of the joint in units/second.
- velocity:float;
+ velocity:float (id: 4);
// Profiled goal position of the joint.
- goal_position:float;
+ goal_position:float (id: 5);
// Profiled goal velocity of the joint in units/second.
- goal_velocity:float;
+ goal_velocity:float (id: 6);
// Unprofiled goal position from absoulte zero of the joint.
- unprofiled_goal_position:float;
+ unprofiled_goal_position:float (id: 7);
// Unprofiled goal velocity of the joint in units/second.
- unprofiled_goal_velocity:float;
+ unprofiled_goal_velocity:float (id: 8);
// The estimated voltage error.
- voltage_error:float;
+ voltage_error:float (id: 9);
// The calculated velocity with delta x/delta t
- calculated_velocity:float;
+ calculated_velocity:float (id: 10);
// Components of the control loop output
- position_power:float;
- velocity_power:float;
- feedforwards_power:float;
+ position_power:float (id: 11);
+ velocity_power:float (id: 12);
+ feedforwards_power:float (id: 13);
// State of the estimator.
- estimator_state:frc971.EstimatorState;
+ estimator_state:frc971.EstimatorState (id: 14);
}
table HallProfiledJointStatus {
// Is the subsystem zeroed?
- zeroed:bool;
+ zeroed:bool (id: 0);
// The state of the subsystem, if applicable. -1 otherwise.
// TODO(alex): replace with enum.
- state:int;
+ state:int (id: 1);
// If true, we have aborted.
- estopped:bool;
+ estopped:bool (id: 2);
// Position of the joint.
- position:float;
+ position:float (id: 3);
// Velocity of the joint in units/second.
- velocity:float;
+ velocity:float (id: 4);
// Profiled goal position of the joint.
- goal_position:float;
+ goal_position:float (id: 5);
// Profiled goal velocity of the joint in units/second.
- goal_velocity:float;
+ goal_velocity:float (id: 6);
// Unprofiled goal position from absoulte zero of the joint.
- unprofiled_goal_position:float;
+ unprofiled_goal_position:float (id: 7);
// Unprofiled goal velocity of the joint in units/second.
- unprofiled_goal_velocity:float;
+ unprofiled_goal_velocity:float (id: 8);
// The estimated voltage error.
- voltage_error:float;
+ voltage_error:float (id: 9);
// The calculated velocity with delta x/delta t
- calculated_velocity:float;
+ calculated_velocity:float (id: 10);
// Components of the control loop output
- position_power:float;
- velocity_power:float;
- feedforwards_power:float;
+ position_power:float (id: 11);
+ velocity_power:float (id: 12);
+ feedforwards_power:float (id: 13);
// State of the estimator.
- estimator_state:frc971.HallEffectAndPositionEstimatorState;
+ estimator_state:frc971.HallEffectAndPositionEstimatorState (id: 14);
}
table PotAndAbsoluteEncoderProfiledJointStatus {
// Is the subsystem zeroed?
- zeroed:bool;
+ zeroed:bool (id: 0);
// The state of the subsystem, if applicable. -1 otherwise.
// TODO(alex): replace with enum.
- state:int;
+ state:int (id: 1);
// If true, we have aborted.
- estopped:bool;
+ estopped:bool (id: 2);
// Position of the joint.
- position:float;
+ position:float (id: 3);
// Velocity of the joint in units/second.
- velocity:float;
+ velocity:float (id: 4);
// Profiled goal position of the joint.
- goal_position:float;
+ goal_position:float (id: 5);
// Profiled goal velocity of the joint in units/second.
- goal_velocity:float;
+ goal_velocity:float (id: 6);
// Unprofiled goal position from absoulte zero of the joint.
- unprofiled_goal_position:float;
+ unprofiled_goal_position:float (id: 7);
// Unprofiled goal velocity of the joint in units/second.
- unprofiled_goal_velocity:float;
+ unprofiled_goal_velocity:float (id: 8);
// The estimated voltage error.
- voltage_error:float;
+ voltage_error:float (id: 9);
// The calculated velocity with delta x/delta t
- calculated_velocity:float;
+ calculated_velocity:float (id: 10);
// Components of the control loop output
- position_power:float;
- velocity_power:float;
- feedforwards_power:float;
+ position_power:float (id: 11);
+ velocity_power:float (id: 12);
+ feedforwards_power:float (id: 13);
// State of the estimator.
- estimator_state:frc971.PotAndAbsoluteEncoderEstimatorState;
+ estimator_state:frc971.PotAndAbsoluteEncoderEstimatorState (id: 14);
}
table IndexProfiledJointStatus {
// Is the subsystem zeroed?
- zeroed:bool;
+ zeroed:bool (id: 0);
// The state of the subsystem, if applicable. -1 otherwise.
// TODO(alex): replace with enum.
- state:int;
+ state:int (id: 1);
// If true, we have aborted.
- estopped:bool;
+ estopped:bool (id: 2);
// Position of the joint.
- position:float;
+ position:float (id: 3);
// Velocity of the joint in units/second.
- velocity:float;
+ velocity:float (id: 4);
// Profiled goal position of the joint.
- goal_position:float;
+ goal_position:float (id: 5);
// Profiled goal velocity of the joint in units/second.
- goal_velocity:float;
+ goal_velocity:float (id: 6);
// Unprofiled goal position from absoulte zero of the joint.
- unprofiled_goal_position:float;
+ unprofiled_goal_position:float (id: 7);
// Unprofiled goal velocity of the joint in units/second.
- unprofiled_goal_velocity:float;
+ unprofiled_goal_velocity:float (id: 8);
// The estimated voltage error.
- voltage_error:float;
+ voltage_error:float (id: 9);
// The calculated velocity with delta x/delta t
- calculated_velocity:float;
+ calculated_velocity:float (id: 10);
// Components of the control loop output
- position_power:float;
- velocity_power:float;
- feedforwards_power:float;
+ position_power:float (id: 11);
+ velocity_power:float (id: 12);
+ feedforwards_power:float (id: 13);
// State of the estimator.
- estimator_state:frc971.IndexEstimatorState;
+ estimator_state:frc971.IndexEstimatorState (id: 14);
}
table AbsoluteEncoderProfiledJointStatus {
// Is the subsystem zeroed?
- zeroed:bool;
+ zeroed:bool (id: 0);
// The state of the subsystem, if applicable. -1 otherwise.
// TODO(alex): replace with enum.
- state:int;
+ state:int (id: 1);
// If true, we have aborted.
- estopped:bool;
+ estopped:bool (id: 2);
// Position of the joint.
- position:float;
+ position:float (id: 3);
// Velocity of the joint in units/second.
- velocity:float;
+ velocity:float (id: 4);
// Profiled goal position of the joint.
- goal_position:float;
+ goal_position:float (id: 5);
// Profiled goal velocity of the joint in units/second.
- goal_velocity:float;
+ goal_velocity:float (id: 6);
// Unprofiled goal position from absoulte zero of the joint.
- unprofiled_goal_position:float;
+ unprofiled_goal_position:float (id: 7);
// Unprofiled goal velocity of the joint in units/second.
- unprofiled_goal_velocity:float;
+ unprofiled_goal_velocity:float (id: 8);
// The estimated voltage error.
- voltage_error:float;
+ voltage_error:float (id: 9);
// The calculated velocity with delta x/delta t
- calculated_velocity:float;
+ calculated_velocity:float (id: 10);
// Components of the control loop output
- position_power:float;
- velocity_power:float;
- feedforwards_power:float;
+ position_power:float (id: 11);
+ velocity_power:float (id: 12);
+ feedforwards_power:float (id: 13);
// State of the estimator.
- estimator_state:frc971.AbsoluteEncoderEstimatorState;
+ estimator_state:frc971.AbsoluteEncoderEstimatorState (id: 14);
}
table RelativeEncoderProfiledJointStatus {
// The state of the subsystem, if applicable. -1 otherwise.
// TODO(alex): replace with enum.
- state:int;
+ state:int (id: 0);
// If true, we have aborted.
- estopped:bool;
+ estopped:bool (id: 1);
// Position of the joint.
- position:float;
+ position:float (id: 2);
// Velocity of the joint in units/second.
- velocity:float;
+ velocity:float (id: 3);
// Profiled goal position of the joint.
- goal_position:float;
+ goal_position:float (id: 4);
// Profiled goal velocity of the joint in units/second.
- goal_velocity:float;
+ goal_velocity:float (id: 5);
// Unprofiled goal position from absoulte zero of the joint.
- unprofiled_goal_position:float;
+ unprofiled_goal_position:float (id: 6);
// Unprofiled goal velocity of the joint in units/second.
- unprofiled_goal_velocity:float;
+ unprofiled_goal_velocity:float (id: 7);
// The estimated voltage error.
- voltage_error:float;
+ voltage_error:float (id: 8);
// The calculated velocity with delta x/delta t
- calculated_velocity:float;
+ calculated_velocity:float (id: 9);
// Components of the control loop output
- position_power:float;
- velocity_power:float;
- feedforwards_power:float;
+ position_power:float (id: 10);
+ velocity_power:float (id: 11);
+ feedforwards_power:float (id: 12);
// State of the estimator.
- estimator_state:frc971.RelativeEncoderEstimatorState;
+ estimator_state:frc971.RelativeEncoderEstimatorState (id: 13);
}
table StaticZeroingSingleDOFProfiledSubsystemGoal {
- unsafe_goal:double;
+ unsafe_goal:double (id: 0);
- profile_params:frc971.ProfileParameters;
+ profile_params:frc971.ProfileParameters (id: 1);
// Sets the goal velocity of the subsystem.
- goal_velocity:double;
+ goal_velocity:double (id: 2);
// If set to true, then we will ignore the profiling on this joint and pass
// the goal + goal velocity directly to the control loop.
- ignore_profile:bool;
+ ignore_profile:bool (id: 3);
}