Add ids to flatbuffer fields in y2012, y2016, frc971, and aos
Change-Id: I9ed9006ce6224e2df0459df47771786b928164a1
diff --git a/y2016/control_loops/superstructure/superstructure_goal.fbs b/y2016/control_loops/superstructure/superstructure_goal.fbs
index 4274bd8..efba4a7 100644
--- a/y2016/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2016/control_loops/superstructure/superstructure_goal.fbs
@@ -15,36 +15,36 @@
// to the big frame supporting the shooter.
// Goal angles and angular velocities of the superstructure subsystems.
- angle_intake:double;
- angle_shoulder:double;
+ angle_intake:double (id: 0);
+ angle_shoulder:double (id: 1);
// In relation to the ground plane.
- angle_wrist:double;
+ angle_wrist:double (id: 2);
// Caps on velocity/acceleration for profiling. 0 for the default.
- max_angular_velocity_intake:float;
- max_angular_velocity_shoulder:float;
- max_angular_velocity_wrist:float;
+ max_angular_velocity_intake:float (id: 3);
+ max_angular_velocity_shoulder:float (id: 4);
+ max_angular_velocity_wrist:float (id: 5);
- max_angular_acceleration_intake:float;
- max_angular_acceleration_shoulder:float;
- max_angular_acceleration_wrist:float;
+ max_angular_acceleration_intake:float (id: 6);
+ max_angular_acceleration_shoulder:float (id: 7);
+ max_angular_acceleration_wrist:float (id: 8);
// Voltage to send to the rollers. Positive is sucking in.
- voltage_top_rollers:float;
- voltage_bottom_rollers:float;
+ voltage_top_rollers:float (id: 9);
+ voltage_bottom_rollers:float (id: 10);
// Voltage to sent to the climber. Positive is pulling the robot up.
- voltage_climber:float;
+ voltage_climber:float (id: 11);
// If true, unlatch the climber and allow it to unfold.
- unfold_climber:bool;
+ unfold_climber:bool (id: 12);
- force_intake:bool;
+ force_intake:bool (id: 13);
// If true, release the latch which holds the traverse mechanism in the
// middle.
- traverse_unlatched:bool;
+ traverse_unlatched:bool (id: 14);
// If true, fire the traverse mechanism down.
- traverse_down:bool;
+ traverse_down:bool (id: 15);
}
root_type Goal;
diff --git a/y2016/control_loops/superstructure/superstructure_output.fbs b/y2016/control_loops/superstructure/superstructure_output.fbs
index 40a0091..7e790cd 100644
--- a/y2016/control_loops/superstructure/superstructure_output.fbs
+++ b/y2016/control_loops/superstructure/superstructure_output.fbs
@@ -1,22 +1,22 @@
namespace y2016.control_loops.superstructure;
table Output {
- voltage_intake:float;
- voltage_shoulder:float;
- voltage_wrist:float;
+ voltage_intake:float (id: 0);
+ voltage_shoulder:float (id: 1);
+ voltage_wrist:float (id: 2);
- voltage_top_rollers:float;
- voltage_bottom_rollers:float;
+ voltage_top_rollers:float (id: 3);
+ voltage_bottom_rollers:float (id: 4);
// Voltage to sent to the climber. Positive is pulling the robot up.
- voltage_climber:float;
+ voltage_climber:float (id: 5);
// If true, release the latch to trigger the climber to unfold.
- unfold_climber:bool;
+ unfold_climber:bool (id: 6);
// If true, release the latch to hold the traverse mechanism in the middle.
- traverse_unlatched:bool;
+ traverse_unlatched:bool (id: 7);
// If true, fire the traverse mechanism down.
- traverse_down:bool;
+ traverse_down:bool (id: 8);
}
root_type Output;
diff --git a/y2016/control_loops/superstructure/superstructure_position.fbs b/y2016/control_loops/superstructure/superstructure_position.fbs
index fb356e0..3660e43 100644
--- a/y2016/control_loops/superstructure/superstructure_position.fbs
+++ b/y2016/control_loops/superstructure/superstructure_position.fbs
@@ -11,9 +11,9 @@
// the shooter wheels pointed towards the shoulder joint. This is measured
// relative to the arm, not the ground, not like the world we actually
// present to users.
- intake:frc971.PotAndIndexPosition;
- shoulder:frc971.PotAndIndexPosition;
- wrist:frc971.PotAndIndexPosition;
+ intake:frc971.PotAndIndexPosition (id: 0);
+ shoulder:frc971.PotAndIndexPosition (id: 1);
+ wrist:frc971.PotAndIndexPosition (id: 2);
}
root_type Position;
diff --git a/y2016/control_loops/superstructure/superstructure_status.fbs b/y2016/control_loops/superstructure/superstructure_status.fbs
index 373bfe2..84648ac 100644
--- a/y2016/control_loops/superstructure/superstructure_status.fbs
+++ b/y2016/control_loops/superstructure/superstructure_status.fbs
@@ -4,53 +4,53 @@
table JointState {
// Angle of the joint in radians.
- angle:float;
+ angle:float (id: 0);
// Angular velocity of the joint in radians/second.
- angular_velocity:float;
+ angular_velocity:float (id: 1);
// Profiled goal angle of the joint in radians.
- goal_angle:float;
+ goal_angle:float (id: 2);
// Profiled goal angular velocity of the joint in radians/second.
- goal_angular_velocity:float;
+ goal_angular_velocity:float (id: 3);
// Unprofiled goal angle of the joint in radians.
- unprofiled_goal_angle:float;
+ unprofiled_goal_angle:float (id: 4);
// Unprofiled goal angular velocity of the joint in radians/second.
- unprofiled_goal_angular_velocity:float;
+ unprofiled_goal_angular_velocity:float (id: 5);
// The estimated voltage error.
- voltage_error:float;
+ voltage_error:float (id: 6);
// The calculated velocity with delta x/delta t
- calculated_velocity:float;
+ calculated_velocity:float (id: 7);
// Components of the control loop output
- position_power:float;
- velocity_power:float;
- feedforwards_power:float;
+ position_power:float (id: 8);
+ velocity_power:float (id: 9);
+ feedforwards_power:float (id: 10);
// State of the estimator.
- estimator_state:frc971.EstimatorState;
+ estimator_state:frc971.EstimatorState (id: 11);
}
table Status {
// Are the superstructure subsystems zeroed?
- zeroed:bool;
+ zeroed:bool (id: 0);
// If true, we have aborted.
- estopped:bool;
+ estopped:bool (id: 1);
// The internal state of the state machine.
- state:int;
+ state:int (id: 2);
// Estimated angles and angular velocities of the superstructure subsystems.
- intake:JointState;
- shoulder:JointState;
- wrist:JointState;
+ intake:JointState (id: 3);
+ shoulder:JointState (id: 4);
+ wrist:JointState (id: 5);
- shoulder_controller_index:int;
+ shoulder_controller_index:int (id: 6);
// Is the superstructure collided?
- is_collided:bool;
+ is_collided:bool (id: 7);
}
root_type Status;