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[wpimath] Add ChassisAccelerations and drivetrain accelerations classes and add forward and inverse kinematics for accelerations to the interface (#8185)
ChassisAccelerations and the drivetrain acceleration types are added in both Java and C++. `ChassisAccelerations` is basically just `ChassisSpeeds` but for accelerations! `DifferentialDriveWheelAccelerations`, `MecanumDriveWheelAccelerations`, and `SwerveModuleAccelerations` are the acceleration equivalent of the drivetrain speeds types. In Java, the `Kinematics` interface now has an additional generic parameter `A` which represents the accelerations, and `toChassisAccelerations` and `toWheelAccelerations` methods, which are implemented the same way as `toChassisSpeeds` and `toWheelSpeeds`. Protobuf and struct classes were also added for all four classes in Java and C++. --------- Signed-off-by: Zach Harel <zach@zharel.me> Co-authored-by: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com> Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
Zach Harel
File diff suppressed because it is too large
Load Diff
@@ -24,296 +24,413 @@ static const uint8_t file_descriptor[] {
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|
||||
0x0a,0x05,0x04,0x09,0x02,0x01,0x03,0x12,0x03,0x3e,
|
||||
0x17,0x18,0x0a,0x0b,0x0a,0x04,0x04,0x09,0x02,0x02,
|
||||
0x12,0x03,0x3f,0x02,0x17,0x0a,0x0c,0x0a,0x05,0x04,
|
||||
0x09,0x02,0x02,0x05,0x12,0x03,0x3f,0x02,0x08,0x0a,
|
||||
0x0c,0x0a,0x05,0x04,0x09,0x02,0x02,0x01,0x12,0x03,
|
||||
0x3f,0x09,0x12,0x0a,0x0c,0x0a,0x05,0x04,0x09,0x02,
|
||||
0x02,0x03,0x12,0x03,0x3f,0x15,0x16,0x0a,0x0b,0x0a,
|
||||
0x04,0x04,0x09,0x02,0x03,0x12,0x03,0x40,0x02,0x18,
|
||||
0x0a,0x0c,0x0a,0x05,0x04,0x09,0x02,0x03,0x05,0x12,
|
||||
0x03,0x40,0x02,0x08,0x0a,0x0c,0x0a,0x05,0x04,0x09,
|
||||
0x02,0x03,0x01,0x12,0x03,0x40,0x09,0x13,0x0a,0x0c,
|
||||
0x0a,0x05,0x04,0x09,0x02,0x03,0x03,0x12,0x03,0x40,
|
||||
0x16,0x17,0x0a,0x0a,0x0a,0x02,0x04,0x0a,0x12,0x04,
|
||||
0x43,0x00,0x45,0x01,0x0a,0x0a,0x0a,0x03,0x04,0x0a,
|
||||
0x01,0x12,0x03,0x43,0x08,0x25,0x0a,0x0b,0x0a,0x04,
|
||||
0x04,0x0a,0x02,0x00,0x12,0x03,0x44,0x02,0x2d,0x0a,
|
||||
0x0c,0x0a,0x05,0x04,0x0a,0x02,0x00,0x04,0x12,0x03,
|
||||
0x44,0x02,0x0a,0x0a,0x0c,0x0a,0x05,0x04,0x0a,0x02,
|
||||
0x00,0x06,0x12,0x03,0x44,0x0b,0x20,0x0a,0x0c,0x0a,
|
||||
0x05,0x04,0x0a,0x02,0x00,0x01,0x12,0x03,0x44,0x21,
|
||||
0x28,0x0a,0x0c,0x0a,0x05,0x04,0x0a,0x02,0x00,0x03,
|
||||
0x12,0x03,0x44,0x2b,0x2c,0x0a,0x0a,0x0a,0x02,0x04,
|
||||
0x0b,0x12,0x04,0x47,0x00,0x4a,0x01,0x0a,0x0a,0x0a,
|
||||
0x03,0x04,0x0b,0x01,0x12,0x03,0x47,0x08,0x24,0x0a,
|
||||
0x0b,0x0a,0x04,0x04,0x0b,0x02,0x00,0x12,0x03,0x48,
|
||||
0x02,0x16,0x0a,0x0c,0x0a,0x05,0x04,0x0b,0x02,0x00,
|
||||
0x05,0x12,0x03,0x48,0x02,0x08,0x0a,0x0c,0x0a,0x05,
|
||||
0x04,0x0b,0x02,0x00,0x01,0x12,0x03,0x48,0x09,0x11,
|
||||
0x0a,0x0c,0x0a,0x05,0x04,0x0b,0x02,0x00,0x03,0x12,
|
||||
0x03,0x48,0x14,0x15,0x0a,0x0b,0x0a,0x04,0x04,0x0b,
|
||||
0x02,0x01,0x12,0x03,0x49,0x02,0x1f,0x0a,0x0c,0x0a,
|
||||
0x05,0x04,0x0b,0x02,0x01,0x06,0x12,0x03,0x49,0x02,
|
||||
0x14,0x0a,0x0c,0x0a,0x05,0x04,0x0b,0x02,0x01,0x01,
|
||||
0x12,0x03,0x49,0x15,0x1a,0x0a,0x0c,0x0a,0x05,0x04,
|
||||
0x0b,0x02,0x01,0x03,0x12,0x03,0x49,0x1d,0x1e,0x0a,
|
||||
0x0a,0x0a,0x02,0x04,0x0c,0x12,0x04,0x4c,0x00,0x4f,
|
||||
0x01,0x0a,0x0a,0x0a,0x03,0x04,0x0c,0x01,0x12,0x03,
|
||||
0x4c,0x08,0x21,0x0a,0x0b,0x0a,0x04,0x04,0x0c,0x02,
|
||||
0x00,0x12,0x03,0x4d,0x02,0x13,0x0a,0x0c,0x0a,0x05,
|
||||
0x04,0x0c,0x02,0x00,0x05,0x12,0x03,0x4d,0x02,0x08,
|
||||
0x0a,0x0c,0x0a,0x05,0x04,0x0c,0x02,0x00,0x01,0x12,
|
||||
0x03,0x4d,0x09,0x0e,0x0a,0x0c,0x0a,0x05,0x04,0x0c,
|
||||
0x02,0x00,0x03,0x12,0x03,0x4d,0x11,0x12,0x0a,0x0b,
|
||||
0x0a,0x04,0x04,0x0c,0x02,0x01,0x12,0x03,0x4e,0x02,
|
||||
0x1f,0x0a,0x0c,0x0a,0x05,0x04,0x0c,0x02,0x01,0x06,
|
||||
0x12,0x03,0x4e,0x02,0x14,0x0a,0x0c,0x0a,0x05,0x04,
|
||||
0x0c,0x02,0x01,0x01,0x12,0x03,0x4e,0x15,0x1a,0x0a,
|
||||
0x0c,0x0a,0x05,0x04,0x0c,0x02,0x01,0x03,0x12,0x03,
|
||||
0x4e,0x1d,0x1e,0x0a,0x0a,0x0a,0x02,0x04,0x0d,0x12,
|
||||
0x04,0x51,0x00,0x54,0x01,0x0a,0x0a,0x0a,0x03,0x04,
|
||||
0x0d,0x01,0x12,0x03,0x51,0x08,0x28,0x0a,0x0b,0x0a,
|
||||
0x04,0x04,0x0d,0x02,0x00,0x12,0x03,0x52,0x02,0x1a,
|
||||
0x0a,0x0c,0x0a,0x05,0x04,0x0d,0x02,0x00,0x05,0x12,
|
||||
0x03,0x52,0x02,0x08,0x0a,0x0c,0x0a,0x05,0x04,0x0d,
|
||||
0x02,0x00,0x01,0x12,0x03,0x52,0x09,0x15,0x0a,0x0c,
|
||||
0x0a,0x05,0x04,0x0d,0x02,0x00,0x03,0x12,0x03,0x52,
|
||||
0x18,0x19,0x0a,0x0b,0x0a,0x04,0x04,0x0d,0x02,0x01,
|
||||
0x12,0x03,0x53,0x02,0x1f,0x0a,0x0c,0x0a,0x05,0x04,
|
||||
0x0d,0x02,0x01,0x06,0x12,0x03,0x53,0x02,0x14,0x0a,
|
||||
0x0c,0x0a,0x05,0x04,0x0d,0x02,0x01,0x01,0x12,0x03,
|
||||
0x53,0x15,0x1a,0x0a,0x0c,0x0a,0x05,0x04,0x0d,0x02,
|
||||
0x01,0x03,0x12,0x03,0x53,0x1d,0x1e,0x62,0x06,0x70,
|
||||
0x72,0x6f,0x74,0x6f,0x33,
|
||||
};
|
||||
static const char file_name[] = "kinematics.proto";
|
||||
static const char wpi_proto_ProtobufChassisSpeeds_name[] = "wpi.proto.ProtobufChassisSpeeds";
|
||||
@@ -322,6 +439,12 @@ pb_filedesc_t wpi_proto_ProtobufChassisSpeeds::file_descriptor(void) noexcept {
|
||||
PB_BIND(wpi_proto_ProtobufChassisSpeeds, wpi_proto_ProtobufChassisSpeeds, AUTO)
|
||||
|
||||
|
||||
static const char wpi_proto_ProtobufChassisAccelerations_name[] = "wpi.proto.ProtobufChassisAccelerations";
|
||||
std::string_view wpi_proto_ProtobufChassisAccelerations::msg_name(void) noexcept { return wpi_proto_ProtobufChassisAccelerations_name; }
|
||||
pb_filedesc_t wpi_proto_ProtobufChassisAccelerations::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
|
||||
PB_BIND(wpi_proto_ProtobufChassisAccelerations, wpi_proto_ProtobufChassisAccelerations, AUTO)
|
||||
|
||||
|
||||
static const char wpi_proto_ProtobufDifferentialDriveKinematics_name[] = "wpi.proto.ProtobufDifferentialDriveKinematics";
|
||||
std::string_view wpi_proto_ProtobufDifferentialDriveKinematics::msg_name(void) noexcept { return wpi_proto_ProtobufDifferentialDriveKinematics_name; }
|
||||
pb_filedesc_t wpi_proto_ProtobufDifferentialDriveKinematics::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
|
||||
@@ -334,6 +457,12 @@ pb_filedesc_t wpi_proto_ProtobufDifferentialDriveWheelSpeeds::file_descriptor(vo
|
||||
PB_BIND(wpi_proto_ProtobufDifferentialDriveWheelSpeeds, wpi_proto_ProtobufDifferentialDriveWheelSpeeds, AUTO)
|
||||
|
||||
|
||||
static const char wpi_proto_ProtobufDifferentialDriveWheelAccelerations_name[] = "wpi.proto.ProtobufDifferentialDriveWheelAccelerations";
|
||||
std::string_view wpi_proto_ProtobufDifferentialDriveWheelAccelerations::msg_name(void) noexcept { return wpi_proto_ProtobufDifferentialDriveWheelAccelerations_name; }
|
||||
pb_filedesc_t wpi_proto_ProtobufDifferentialDriveWheelAccelerations::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
|
||||
PB_BIND(wpi_proto_ProtobufDifferentialDriveWheelAccelerations, wpi_proto_ProtobufDifferentialDriveWheelAccelerations, AUTO)
|
||||
|
||||
|
||||
static const char wpi_proto_ProtobufDifferentialDriveWheelPositions_name[] = "wpi.proto.ProtobufDifferentialDriveWheelPositions";
|
||||
std::string_view wpi_proto_ProtobufDifferentialDriveWheelPositions::msg_name(void) noexcept { return wpi_proto_ProtobufDifferentialDriveWheelPositions_name; }
|
||||
pb_filedesc_t wpi_proto_ProtobufDifferentialDriveWheelPositions::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
|
||||
@@ -358,6 +487,12 @@ pb_filedesc_t wpi_proto_ProtobufMecanumDriveWheelSpeeds::file_descriptor(void) n
|
||||
PB_BIND(wpi_proto_ProtobufMecanumDriveWheelSpeeds, wpi_proto_ProtobufMecanumDriveWheelSpeeds, AUTO)
|
||||
|
||||
|
||||
static const char wpi_proto_ProtobufMecanumDriveWheelAccelerations_name[] = "wpi.proto.ProtobufMecanumDriveWheelAccelerations";
|
||||
std::string_view wpi_proto_ProtobufMecanumDriveWheelAccelerations::msg_name(void) noexcept { return wpi_proto_ProtobufMecanumDriveWheelAccelerations_name; }
|
||||
pb_filedesc_t wpi_proto_ProtobufMecanumDriveWheelAccelerations::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
|
||||
PB_BIND(wpi_proto_ProtobufMecanumDriveWheelAccelerations, wpi_proto_ProtobufMecanumDriveWheelAccelerations, AUTO)
|
||||
|
||||
|
||||
static const char wpi_proto_ProtobufSwerveDriveKinematics_name[] = "wpi.proto.ProtobufSwerveDriveKinematics";
|
||||
std::string_view wpi_proto_ProtobufSwerveDriveKinematics::msg_name(void) noexcept { return wpi_proto_ProtobufSwerveDriveKinematics_name; }
|
||||
pb_filedesc_t wpi_proto_ProtobufSwerveDriveKinematics::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
|
||||
@@ -376,6 +511,12 @@ pb_filedesc_t wpi_proto_ProtobufSwerveModuleState::file_descriptor(void) noexcep
|
||||
PB_BIND(wpi_proto_ProtobufSwerveModuleState, wpi_proto_ProtobufSwerveModuleState, AUTO)
|
||||
|
||||
|
||||
static const char wpi_proto_ProtobufSwerveModuleAcceleration_name[] = "wpi.proto.ProtobufSwerveModuleAcceleration";
|
||||
std::string_view wpi_proto_ProtobufSwerveModuleAcceleration::msg_name(void) noexcept { return wpi_proto_ProtobufSwerveModuleAcceleration_name; }
|
||||
pb_filedesc_t wpi_proto_ProtobufSwerveModuleAcceleration::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
|
||||
PB_BIND(wpi_proto_ProtobufSwerveModuleAcceleration, wpi_proto_ProtobufSwerveModuleAcceleration, AUTO)
|
||||
|
||||
|
||||
|
||||
#ifndef PB_CONVERT_DOUBLE_FLOAT
|
||||
/* On some platforms (such as AVR), double is really float.
|
||||
|
||||
@@ -26,6 +26,16 @@ typedef struct _wpi_proto_ProtobufChassisSpeeds {
|
||||
double omega;
|
||||
} wpi_proto_ProtobufChassisSpeeds;
|
||||
|
||||
typedef struct _wpi_proto_ProtobufChassisAccelerations {
|
||||
static const pb_msgdesc_t* msg_descriptor(void) noexcept;
|
||||
static std::string_view msg_name(void) noexcept;
|
||||
static pb_filedesc_t file_descriptor(void) noexcept;
|
||||
|
||||
double ax;
|
||||
double ay;
|
||||
double alpha;
|
||||
} wpi_proto_ProtobufChassisAccelerations;
|
||||
|
||||
typedef struct _wpi_proto_ProtobufDifferentialDriveKinematics {
|
||||
static const pb_msgdesc_t* msg_descriptor(void) noexcept;
|
||||
static std::string_view msg_name(void) noexcept;
|
||||
@@ -43,6 +53,15 @@ typedef struct _wpi_proto_ProtobufDifferentialDriveWheelSpeeds {
|
||||
double right;
|
||||
} wpi_proto_ProtobufDifferentialDriveWheelSpeeds;
|
||||
|
||||
typedef struct _wpi_proto_ProtobufDifferentialDriveWheelAccelerations {
|
||||
static const pb_msgdesc_t* msg_descriptor(void) noexcept;
|
||||
static std::string_view msg_name(void) noexcept;
|
||||
static pb_filedesc_t file_descriptor(void) noexcept;
|
||||
|
||||
double left;
|
||||
double right;
|
||||
} wpi_proto_ProtobufDifferentialDriveWheelAccelerations;
|
||||
|
||||
typedef struct _wpi_proto_ProtobufDifferentialDriveWheelPositions {
|
||||
static const pb_msgdesc_t* msg_descriptor(void) noexcept;
|
||||
static std::string_view msg_name(void) noexcept;
|
||||
@@ -85,6 +104,17 @@ typedef struct _wpi_proto_ProtobufMecanumDriveWheelSpeeds {
|
||||
double rear_right;
|
||||
} wpi_proto_ProtobufMecanumDriveWheelSpeeds;
|
||||
|
||||
typedef struct _wpi_proto_ProtobufMecanumDriveWheelAccelerations {
|
||||
static const pb_msgdesc_t* msg_descriptor(void) noexcept;
|
||||
static std::string_view msg_name(void) noexcept;
|
||||
static pb_filedesc_t file_descriptor(void) noexcept;
|
||||
|
||||
double front_left;
|
||||
double front_right;
|
||||
double rear_left;
|
||||
double rear_right;
|
||||
} wpi_proto_ProtobufMecanumDriveWheelAccelerations;
|
||||
|
||||
typedef struct _wpi_proto_ProtobufSwerveDriveKinematics {
|
||||
static const pb_msgdesc_t* msg_descriptor(void) noexcept;
|
||||
static std::string_view msg_name(void) noexcept;
|
||||
@@ -111,36 +141,58 @@ typedef struct _wpi_proto_ProtobufSwerveModuleState {
|
||||
pb_callback_t angle;
|
||||
} wpi_proto_ProtobufSwerveModuleState;
|
||||
|
||||
typedef struct _wpi_proto_ProtobufSwerveModuleAcceleration {
|
||||
static const pb_msgdesc_t* msg_descriptor(void) noexcept;
|
||||
static std::string_view msg_name(void) noexcept;
|
||||
static pb_filedesc_t file_descriptor(void) noexcept;
|
||||
|
||||
double acceleration;
|
||||
pb_callback_t angle;
|
||||
} wpi_proto_ProtobufSwerveModuleAcceleration;
|
||||
|
||||
|
||||
/* Initializer values for message structs */
|
||||
#define wpi_proto_ProtobufChassisSpeeds_init_default {0, 0, 0}
|
||||
#define wpi_proto_ProtobufChassisAccelerations_init_default {0, 0, 0}
|
||||
#define wpi_proto_ProtobufDifferentialDriveKinematics_init_default {0}
|
||||
#define wpi_proto_ProtobufDifferentialDriveWheelSpeeds_init_default {0, 0}
|
||||
#define wpi_proto_ProtobufDifferentialDriveWheelAccelerations_init_default {0, 0}
|
||||
#define wpi_proto_ProtobufDifferentialDriveWheelPositions_init_default {0, 0}
|
||||
#define wpi_proto_ProtobufMecanumDriveKinematics_init_default {{{NULL}, NULL}, {{NULL}, NULL}, {{NULL}, NULL}, {{NULL}, NULL}}
|
||||
#define wpi_proto_ProtobufMecanumDriveWheelPositions_init_default {0, 0, 0, 0}
|
||||
#define wpi_proto_ProtobufMecanumDriveWheelSpeeds_init_default {0, 0, 0, 0}
|
||||
#define wpi_proto_ProtobufMecanumDriveWheelAccelerations_init_default {0, 0, 0, 0}
|
||||
#define wpi_proto_ProtobufSwerveDriveKinematics_init_default {{{NULL}, NULL}}
|
||||
#define wpi_proto_ProtobufSwerveModulePosition_init_default {0, {{NULL}, NULL}}
|
||||
#define wpi_proto_ProtobufSwerveModuleState_init_default {0, {{NULL}, NULL}}
|
||||
#define wpi_proto_ProtobufSwerveModuleAcceleration_init_default {0, {{NULL}, NULL}}
|
||||
#define wpi_proto_ProtobufChassisSpeeds_init_zero {0, 0, 0}
|
||||
#define wpi_proto_ProtobufChassisAccelerations_init_zero {0, 0, 0}
|
||||
#define wpi_proto_ProtobufDifferentialDriveKinematics_init_zero {0}
|
||||
#define wpi_proto_ProtobufDifferentialDriveWheelSpeeds_init_zero {0, 0}
|
||||
#define wpi_proto_ProtobufDifferentialDriveWheelAccelerations_init_zero {0, 0}
|
||||
#define wpi_proto_ProtobufDifferentialDriveWheelPositions_init_zero {0, 0}
|
||||
#define wpi_proto_ProtobufMecanumDriveKinematics_init_zero {{{NULL}, NULL}, {{NULL}, NULL}, {{NULL}, NULL}, {{NULL}, NULL}}
|
||||
#define wpi_proto_ProtobufMecanumDriveWheelPositions_init_zero {0, 0, 0, 0}
|
||||
#define wpi_proto_ProtobufMecanumDriveWheelSpeeds_init_zero {0, 0, 0, 0}
|
||||
#define wpi_proto_ProtobufMecanumDriveWheelAccelerations_init_zero {0, 0, 0, 0}
|
||||
#define wpi_proto_ProtobufSwerveDriveKinematics_init_zero {{{NULL}, NULL}}
|
||||
#define wpi_proto_ProtobufSwerveModulePosition_init_zero {0, {{NULL}, NULL}}
|
||||
#define wpi_proto_ProtobufSwerveModuleState_init_zero {0, {{NULL}, NULL}}
|
||||
#define wpi_proto_ProtobufSwerveModuleAcceleration_init_zero {0, {{NULL}, NULL}}
|
||||
|
||||
/* Field tags (for use in manual encoding/decoding) */
|
||||
#define wpi_proto_ProtobufChassisSpeeds_vx_tag 1
|
||||
#define wpi_proto_ProtobufChassisSpeeds_vy_tag 2
|
||||
#define wpi_proto_ProtobufChassisSpeeds_omega_tag 3
|
||||
#define wpi_proto_ProtobufChassisAccelerations_ax_tag 1
|
||||
#define wpi_proto_ProtobufChassisAccelerations_ay_tag 2
|
||||
#define wpi_proto_ProtobufChassisAccelerations_alpha_tag 3
|
||||
#define wpi_proto_ProtobufDifferentialDriveKinematics_trackwidth_tag 1
|
||||
#define wpi_proto_ProtobufDifferentialDriveWheelSpeeds_left_tag 1
|
||||
#define wpi_proto_ProtobufDifferentialDriveWheelSpeeds_right_tag 2
|
||||
#define wpi_proto_ProtobufDifferentialDriveWheelAccelerations_left_tag 1
|
||||
#define wpi_proto_ProtobufDifferentialDriveWheelAccelerations_right_tag 2
|
||||
#define wpi_proto_ProtobufDifferentialDriveWheelPositions_left_tag 1
|
||||
#define wpi_proto_ProtobufDifferentialDriveWheelPositions_right_tag 2
|
||||
#define wpi_proto_ProtobufMecanumDriveKinematics_front_left_tag 1
|
||||
@@ -155,11 +207,17 @@ typedef struct _wpi_proto_ProtobufSwerveModuleState {
|
||||
#define wpi_proto_ProtobufMecanumDriveWheelSpeeds_front_right_tag 2
|
||||
#define wpi_proto_ProtobufMecanumDriveWheelSpeeds_rear_left_tag 3
|
||||
#define wpi_proto_ProtobufMecanumDriveWheelSpeeds_rear_right_tag 4
|
||||
#define wpi_proto_ProtobufMecanumDriveWheelAccelerations_front_left_tag 1
|
||||
#define wpi_proto_ProtobufMecanumDriveWheelAccelerations_front_right_tag 2
|
||||
#define wpi_proto_ProtobufMecanumDriveWheelAccelerations_rear_left_tag 3
|
||||
#define wpi_proto_ProtobufMecanumDriveWheelAccelerations_rear_right_tag 4
|
||||
#define wpi_proto_ProtobufSwerveDriveKinematics_modules_tag 1
|
||||
#define wpi_proto_ProtobufSwerveModulePosition_distance_tag 1
|
||||
#define wpi_proto_ProtobufSwerveModulePosition_angle_tag 2
|
||||
#define wpi_proto_ProtobufSwerveModuleState_speed_tag 1
|
||||
#define wpi_proto_ProtobufSwerveModuleState_angle_tag 2
|
||||
#define wpi_proto_ProtobufSwerveModuleAcceleration_acceleration_tag 1
|
||||
#define wpi_proto_ProtobufSwerveModuleAcceleration_angle_tag 2
|
||||
|
||||
/* Struct field encoding specification for nanopb */
|
||||
#define wpi_proto_ProtobufChassisSpeeds_FIELDLIST(X, a) \
|
||||
@@ -169,6 +227,13 @@ X(a, STATIC, SINGULAR, DOUBLE, omega, 3)
|
||||
#define wpi_proto_ProtobufChassisSpeeds_CALLBACK NULL
|
||||
#define wpi_proto_ProtobufChassisSpeeds_DEFAULT NULL
|
||||
|
||||
#define wpi_proto_ProtobufChassisAccelerations_FIELDLIST(X, a) \
|
||||
X(a, STATIC, SINGULAR, DOUBLE, ax, 1) \
|
||||
X(a, STATIC, SINGULAR, DOUBLE, ay, 2) \
|
||||
X(a, STATIC, SINGULAR, DOUBLE, alpha, 3)
|
||||
#define wpi_proto_ProtobufChassisAccelerations_CALLBACK NULL
|
||||
#define wpi_proto_ProtobufChassisAccelerations_DEFAULT NULL
|
||||
|
||||
#define wpi_proto_ProtobufDifferentialDriveKinematics_FIELDLIST(X, a) \
|
||||
X(a, STATIC, SINGULAR, DOUBLE, trackwidth, 1)
|
||||
#define wpi_proto_ProtobufDifferentialDriveKinematics_CALLBACK NULL
|
||||
@@ -180,6 +245,12 @@ X(a, STATIC, SINGULAR, DOUBLE, right, 2)
|
||||
#define wpi_proto_ProtobufDifferentialDriveWheelSpeeds_CALLBACK NULL
|
||||
#define wpi_proto_ProtobufDifferentialDriveWheelSpeeds_DEFAULT NULL
|
||||
|
||||
#define wpi_proto_ProtobufDifferentialDriveWheelAccelerations_FIELDLIST(X, a) \
|
||||
X(a, STATIC, SINGULAR, DOUBLE, left, 1) \
|
||||
X(a, STATIC, SINGULAR, DOUBLE, right, 2)
|
||||
#define wpi_proto_ProtobufDifferentialDriveWheelAccelerations_CALLBACK NULL
|
||||
#define wpi_proto_ProtobufDifferentialDriveWheelAccelerations_DEFAULT NULL
|
||||
|
||||
#define wpi_proto_ProtobufDifferentialDriveWheelPositions_FIELDLIST(X, a) \
|
||||
X(a, STATIC, SINGULAR, DOUBLE, left, 1) \
|
||||
X(a, STATIC, SINGULAR, DOUBLE, right, 2)
|
||||
@@ -214,6 +285,14 @@ X(a, STATIC, SINGULAR, DOUBLE, rear_right, 4)
|
||||
#define wpi_proto_ProtobufMecanumDriveWheelSpeeds_CALLBACK NULL
|
||||
#define wpi_proto_ProtobufMecanumDriveWheelSpeeds_DEFAULT NULL
|
||||
|
||||
#define wpi_proto_ProtobufMecanumDriveWheelAccelerations_FIELDLIST(X, a) \
|
||||
X(a, STATIC, SINGULAR, DOUBLE, front_left, 1) \
|
||||
X(a, STATIC, SINGULAR, DOUBLE, front_right, 2) \
|
||||
X(a, STATIC, SINGULAR, DOUBLE, rear_left, 3) \
|
||||
X(a, STATIC, SINGULAR, DOUBLE, rear_right, 4)
|
||||
#define wpi_proto_ProtobufMecanumDriveWheelAccelerations_CALLBACK NULL
|
||||
#define wpi_proto_ProtobufMecanumDriveWheelAccelerations_DEFAULT NULL
|
||||
|
||||
#define wpi_proto_ProtobufSwerveDriveKinematics_FIELDLIST(X, a) \
|
||||
X(a, CALLBACK, REPEATED, MESSAGE, modules, 1)
|
||||
#define wpi_proto_ProtobufSwerveDriveKinematics_CALLBACK pb_default_field_callback
|
||||
@@ -234,16 +313,27 @@ X(a, CALLBACK, OPTIONAL, MESSAGE, angle, 2)
|
||||
#define wpi_proto_ProtobufSwerveModuleState_DEFAULT NULL
|
||||
#define wpi_proto_ProtobufSwerveModuleState_angle_MSGTYPE wpi_proto_ProtobufRotation2d
|
||||
|
||||
#define wpi_proto_ProtobufSwerveModuleAcceleration_FIELDLIST(X, a) \
|
||||
X(a, STATIC, SINGULAR, DOUBLE, acceleration, 1) \
|
||||
X(a, CALLBACK, OPTIONAL, MESSAGE, angle, 2)
|
||||
#define wpi_proto_ProtobufSwerveModuleAcceleration_CALLBACK pb_default_field_callback
|
||||
#define wpi_proto_ProtobufSwerveModuleAcceleration_DEFAULT NULL
|
||||
#define wpi_proto_ProtobufSwerveModuleAcceleration_angle_MSGTYPE wpi_proto_ProtobufRotation2d
|
||||
|
||||
/* Maximum encoded size of messages (where known) */
|
||||
/* wpi_proto_ProtobufMecanumDriveKinematics_size depends on runtime parameters */
|
||||
/* wpi_proto_ProtobufSwerveDriveKinematics_size depends on runtime parameters */
|
||||
/* wpi_proto_ProtobufSwerveModulePosition_size depends on runtime parameters */
|
||||
/* wpi_proto_ProtobufSwerveModuleState_size depends on runtime parameters */
|
||||
/* wpi_proto_ProtobufSwerveModuleAcceleration_size depends on runtime parameters */
|
||||
#define WPI_PROTO_KINEMATICS_NPB_H_MAX_SIZE wpi_proto_ProtobufMecanumDriveWheelPositions_size
|
||||
#define wpi_proto_ProtobufChassisAccelerations_size 27
|
||||
#define wpi_proto_ProtobufChassisSpeeds_size 27
|
||||
#define wpi_proto_ProtobufDifferentialDriveKinematics_size 9
|
||||
#define wpi_proto_ProtobufDifferentialDriveWheelAccelerations_size 18
|
||||
#define wpi_proto_ProtobufDifferentialDriveWheelPositions_size 18
|
||||
#define wpi_proto_ProtobufDifferentialDriveWheelSpeeds_size 18
|
||||
#define wpi_proto_ProtobufMecanumDriveWheelAccelerations_size 36
|
||||
#define wpi_proto_ProtobufMecanumDriveWheelPositions_size 36
|
||||
#define wpi_proto_ProtobufMecanumDriveWheelSpeeds_size 36
|
||||
|
||||
|
||||
Reference in New Issue
Block a user