frc971/control_loops/control_loops.fbs

namespace frc971;

// Represents all of the data for a single indexed encoder. In other words,
// just a relative encoder with an index pulse.
// The units on all of the positions are the same.
// All encoder values are relative to where the encoder was at some arbitrary
// point in time. All potentiometer values are relative to some arbitrary 0
// position which varies with each robot.
table IndexPosition {
  // Current position read from the encoder.
  encoder:double (id: 0);
  // Position from the encoder latched at the last index pulse.
  latched_encoder:double (id: 1);
  // How many index pulses we've seen since startup. Starts at 0.
  index_pulses:uint (id: 2);
}

// Represents all of the data for a single potentiometer and indexed encoder
// pair.
// The units on all of the positions are the same.
// All encoder values are relative to where the encoder was at some arbitrary
// point in time. All potentiometer values are relative to some arbitrary 0
// position which varies with each robot.
table PotAndIndexPosition {
  // Current position read from the encoder.
  encoder:double (id: 0);
  // Current position read from the potentiometer.
  pot:double (id: 1);

  // Position from the encoder latched at the last index pulse.
  latched_encoder:double (id: 2);
  // Position from the potentiometer latched at the last index pulse.
  latched_pot:double (id: 3);

  // How many index pulses we've seen since startup. Starts at 0.
  index_pulses:uint (id: 4);
}

// Represents all of the data for a single potentiometer with an absolute and
// relative encoder pair.
// The units on all of the positions are the same.
// The relative encoder values are relative to where the encoder was at some
// arbitrary point in time. All potentiometer values are relative to some
// arbitrary 0 position which varies with each robot.
table PotAndAbsolutePosition {
  // Current position read from each encoder.
  encoder:double (id: 0);
  absolute_encoder:double (id: 1);

  // Current position read from the potentiometer.
  pot:double (id: 2);
}

// Represents all of the data for an absolute and relative encoder pair.
// The units on all of the positions are the same.
// The relative encoder values are relative to where the encoder was at some
// arbitrary point in time.
table AbsolutePosition {
  // Current position read from each encoder.
  encoder:double (id: 0);
  absolute_encoder:double (id: 1);
}

// Represents all of the data for an absolute and relative encoder pair,
// along with an absolute encoder.
// They operate similarly to a pot and absolute encoder, but another absolute
// encoder is used in place of the potentiometer.
// The units on all of the positions are the same.
// The relative encoder values are relative to where the encoder was at some
// arbitrary point in time.
table AbsoluteAndAbsolutePosition {
  // Current position read from each encoder.
  encoder:double (id: 0);
  absolute_encoder:double (id: 1);

  // Current position read from the single turn absolute encoder.
  // This can not turn more than one rotation.
  single_turn_absolute_encoder:double (id: 2);
}

// Represents all of the data for a single encoder.
// The relative encoder values are relative to where the encoder was at some
// arbitrary point in time.
table RelativePosition {
  // Current position read from the encoder.
  encoder:double (id: 0);
}

// An enum to represent the different types of errors
// a zeroing estimator could have.
enum ZeroingError : short {
  OFFSET_MOVED_TOO_FAR,
  LOST_ABSOLUTE_ENCODER
}

// The internal state of a zeroing estimator.
table EstimatorState {
  // If true, there has been a fatal error for the estimator.
  error:bool (id: 0);
  // If the joint has seen an index pulse and is zeroed.
  zeroed:bool (id: 1);
  // The estimated position of the joint.
  position:double (id: 2);

  // The estimated position not using the index pulse.
  pot_position:double (id: 3);
}

// The internal state of a zeroing estimator.
table PotAndAbsoluteEncoderEstimatorState {
  // If true, there has been a fatal error for the estimator.
  error:bool (id: 0);
  // If the joint has seen an index pulse and is zeroed.
  zeroed:bool (id: 1);
  // The estimated position of the joint.
  position:double (id: 2);

  // The estimated position not using the index pulse.
  pot_position:double (id: 3);

  // The estimated absolute position of the encoder.  This is filtered, so it
  // can be easily used when zeroing.
  absolute_position:double (id: 4);

  // If errored, this contains the causes for the error.
  errors: [ZeroingError] (id: 5);
}

// The internal state of a zeroing estimator.
table AbsoluteEncoderEstimatorState {
  // If true, there has been a fatal error for the estimator.
  error:bool (id: 0);
  // If the joint has seen an index pulse and is zeroed.
  zeroed:bool (id: 1);
  // The estimated position of the joint.
  position:double (id: 2);

  // The estimated absolute position of the encoder.  This is filtered, so it
  // can be easily used when zeroing.
  absolute_position:double (id: 3);

  // If errored, this contains the causes for the error.
  errors: [ZeroingError] (id: 4);
}

// The internal state of a zeroing estimator.
table AbsoluteAndAbsoluteEncoderEstimatorState {
  // If true, there has been a fatal error for the estimator.
  error:bool (id: 0);
  // If the joint has seen an index pulse and is zeroed.
  zeroed:bool (id: 1);
  // The estimated position of the joint.
  position:double (id: 2);

  // The estimated absolute position of the encoder.  This is filtered, so it
  // can be easily used when zeroing.
  absolute_position:double (id: 3);

  // Estimated absolute position of the single turn absolute encoder.
  single_turn_absolute_position:double (id: 4);

  // If errored, this contains the causes for the error.
  errors: [ZeroingError] (id: 5);
}


table RelativeEncoderEstimatorState {
  // If true, there has been a fatal error for the estimator.
  error:bool (id: 0);

  // The estimated position of the joint.
  position:double (id: 1);
}

// The internal state of a zeroing estimator.
table IndexEstimatorState {
  // If true, there has been a fatal error for the estimator.
  error:bool (id: 0);
  // If the joint has seen an index pulse and is zeroed.
  zeroed:bool (id: 1);
  // The estimated position of the joint. This is just the position relative to
  // where we started if we're not zeroed yet.
  position:double (id: 2);

  // The positions of the extreme index pulses we've seen.
  min_index_position:double (id: 3);
  max_index_position:double (id: 4);
  // The number of index pulses we've seen.
  index_pulses_seen:int (id: 5);
}

table HallEffectAndPositionEstimatorState {
  // If error.
  error:bool (id: 0);
  // If we've found a positive edge while moving backwards and is zeroed.
  zeroed:bool (id: 1);
  // Encoder angle relative to where we started.
  encoder:double (id: 2);
  // The positions of the extreme posedges we've seen.
  // If we've gotten enough samples where the hall effect is high before can be
  // certain it is not a false positive.
  high_long_enough:bool (id: 3);
  offset:double (id: 4);
}

// A left/right pair of PotAndIndexPositions.
table PotAndIndexPair {
  left:PotAndIndexPosition (id: 0);
  right:PotAndIndexPosition (id: 1);
}

// Records edges captured on a single hall effect sensor.
table HallEffectStruct {
  current:bool (id: 0);
  posedge_count:int (id: 1);
  negedge_count:int (id: 2);
  posedge_value:double (id: 3);
  negedge_value:double (id: 4);
}

// Records the hall effect sensor and encoder values.
table HallEffectAndPosition {
  // The current hall effect state.
  current:bool (id: 0);
  // The current encoder position.
  encoder:double (id: 1);
  // The number of positive and negative edges we've seen on the hall effect
  // sensor.
  posedge_count:int (id: 2);
  negedge_count:int (id: 3);
  // The values corresponding to the last hall effect sensor reading.
  posedge_value:double (id: 4);
  negedge_value:double (id: 5);
}

// Records the positions for a mechanism with edge-capturing sensors on it.
table HallEventPositions {
  current:double (id: 0);
  posedge:double (id: 1);
  negedge:double (id: 2);
}

// Records edges captured on a single hall effect sensor.
table PosedgeOnlyCountedHallEffectStruct {
  current:bool (id: 0);
  posedge_count:int (id: 1);
  negedge_count:int (id: 2);
  posedge_value:double (id: 3);
}

// Parameters for the motion profiles.
table ProfileParameters {
  // Maximum velocity for the profile.
  max_velocity:float (id: 0);
  // Maximum acceleration for the profile.
  max_acceleration:float (id: 1);
}

enum ConstraintType : byte {
  CONSTRAINT_TYPE_UNDEFINED,
  LONGITUDINAL_ACCELERATION,
  LATERAL_ACCELERATION,
  VOLTAGE,
  VELOCITY,
}

// Definition of a constraint on a trajectory
table Constraint {
  constraint_type:ConstraintType (id: 0);

  value:float (id: 1);

  // start and end distance are only checked for velocity limits.
  start_distance:float (id: 2);
  end_distance:float (id: 3);
}

// Parameters for computing a trajectory using a chain of splines and
// constraints.
table MultiSpline {
  // Number of splines. The spline point arrays will be expected to have
  // 6 + 5 * (n - 1) points in them. The endpoints are shared between
  // neighboring splines.
  spline_count:byte (id: 0);
  // Maximum of 36 spline points (7 splines).
  spline_x:[float] (id: 1);
  spline_y:[float] (id: 2);

  // Maximum of 6 constraints;
  constraints:[Constraint] (id: 3);
}