aos/robot_state/robot_state.fbs

namespace aos;

// This message is sent out on this queue when sensors are read. It contains
// global robot state and information about whether the process reading sensors
// has been restarted, along with all counters etc it keeps track of.  It is
// published on "/aos"
table RobotState {
  // The PID of the process reading sensors.
  // This is here so control loops can tell when it changes.
  reader_pid:int;

  // True when outputs are enabled.
  // Motor controllers keep going for a bit after this goes to false.
  outputs_enabled:bool;
  // Indicates whether something is browned out (I think motor controller
  // outputs). IMPORTANT: This is NOT !outputs_enabled. outputs_enabled goes to
  // false for other reasons too (disabled, e-stopped, maybe more).
  browned_out:bool;

  // Whether the two sensor rails are currently working.
  is_3v3_active:bool;
  is_5v_active:bool;
  // The current voltages measured on the two sensor rails.
  voltage_3v3:double;
  voltage_5v:double;

  // The input voltage to the roboRIO.
  voltage_roborio_in:double;

  // From the DriverStation object, aka what FMS sees and what shows up on the
  // actual driver's station.
  voltage_battery:double;
}

root_type RobotState;