frc971/control_loops/state_feedback_loop.fbs

include "frc971/math/matrix.fbs";

namespace frc971.control_loops.fbs;

// This file contains tables that represent the constants required
// to initialize a control loop.
// See frc971/control_loops/state_feedback_loop.h

table StateFeedbackPlantCoefficients {
  a:frc971.fbs.Matrix (id: 0);
  b:frc971.fbs.Matrix (id: 1);
  c:frc971.fbs.Matrix (id: 2);
  d:frc971.fbs.Matrix (id: 3);
  u_min:frc971.fbs.Matrix (id: 4);
  u_max:frc971.fbs.Matrix (id: 5);
  u_limit_coefficient:frc971.fbs.Matrix (id: 6);
  u_limit_constant:frc971.fbs.Matrix (id: 7);
  dt:uint64 (id: 8);
  delayed_u:uint64 (id: 9);
  wrap_point:frc971.fbs.Matrix (id: 10);
}

table StateFeedbackHybridPlantCoefficients {
  a_continuous:frc971.fbs.Matrix (id: 0);
  b_continuous:frc971.fbs.Matrix (id: 1);
  c:frc971.fbs.Matrix (id: 2);
  d:frc971.fbs.Matrix (id: 3);
  u_min:frc971.fbs.Matrix (id: 4);
  u_max:frc971.fbs.Matrix (id: 5);
  u_limit_coefficient:frc971.fbs.Matrix (id: 6);
  u_limit_constant:frc971.fbs.Matrix (id: 7);
  delayed_u:uint64 (id: 8);
  wrap_point:frc971.fbs.Matrix (id: 9);
}

table StateFeedbackControllerCoefficients {
  k:frc971.fbs.Matrix (id: 0);
  kff:frc971.fbs.Matrix (id: 1);
}

table StateFeedbackObserverCoefficients {
  kalman_gain:frc971.fbs.Matrix (id: 0);
  q:frc971.fbs.Matrix (id: 1);
  r:frc971.fbs.Matrix (id: 2);
  delayed_u:uint64 (id: 3);
}

table HybridKalmanCoefficients {
  q_continuous:frc971.fbs.Matrix (id: 0);
  r_continuous:frc971.fbs.Matrix (id: 1);
  p_steady_state:frc971.fbs.Matrix (id: 2);
  delayed_u:uint64 (id: 3);
}

// The tables below represent a single index within a
// *Loop object. A vector of these will be necessary to initialize
// the loop (the vector will be of length one except when using a
// gain-scheduled controller).
table StateFeedbackLoopCoefficients {
  plant:StateFeedbackPlantCoefficients (id: 0);
  controller:StateFeedbackControllerCoefficients (id: 1);
  observer:StateFeedbackObserverCoefficients (id: 2);
}

table StateFeedbackHybridLoopCoefficients {
  plant:StateFeedbackHybridPlantCoefficients (id: 0);
  controller:StateFeedbackControllerCoefficients (id: 1);
  observer:HybridKalmanCoefficients (id: 2);
}

// Helpers for when we need to be able to package just the loop coefficients.
table StateFeedbackLoopCoefficientsVector {
  loops:[StateFeedbackLoopCoefficients] (id: 0);
}

table StateFeedbackHybridLoopCoefficientsVector {
  loops:[StateFeedbackHybridLoopCoefficients] (id: 0);
}