FMS Attached control word

[Alex Spataru]

If you check the HAL header in WPILib, we can get a basic idea about the components of the 2015 protocol.

While the QDS is fully able to control an FRC robot, it still has some parts of the 2015 protocol that are "not mapped", specifically, the FMS part. As a sidenote, I have implemented the architecture to support DS<->FMS communications, however, the implementation of the 2015 protocol generates an empty packet for the moment.

Now, when the DS receives a packet from the FMS, it will also notify the robot with the "FMS Attached" control word. I suspect that this byte could be generated in the operation code byte or in the "header" byte (which actually nobody knows what it stands for).

Any ideas?

[Alex Spataru]

I fixed this issue with commit be2c2b4.