y2020/control_loops/superstructure/superstructure_goal.fbs

include "frc971/control_loops/profiled_subsystem.fbs";

namespace y2020.control_loops.superstructure;

table ShooterGoal {
  // Angular velocity in rad/s of the slowest (lowest) wheel in the kicker.
  // Positive is shooting the ball.
  velocity_accelerator:double (id: 0);

  // Angular velocity in rad/s of the flywheel. Positive is shooting.
  velocity_finisher:double (id: 1);
}

table Goal {
  // Zero is at the horizontal, positive towards the front (meters on the lead screw).
  // Only applies if hood_tracking = false.
  hood:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 0);

  // Positive = counterclockwise from above; rotates Wheel of Fortune clockwise
  // Zero is relative to start.
  control_panel:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 1);

  // 0 = Linkage on sprocket is pointing straight up
  // Positive = forward
  intake:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 2);

  // Positive is rollers intaking to Washing Machine.
  roller_voltage:float (id: 3);

  // Factor to multiply robot velocity by and add to roller voltage.
  roller_speed_compensation:float (id: 11);

  // 0 = facing the back of the robot. Positive rotates counterclockwise.
  turret:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 4);

  // Only applies if shooter_tracking = false.
  shooter:ShooterGoal (id: 5);

  // Whether the robot should be shooting balls. Waits until hood, turret, and
  // shooter are at goal (as determined by auto-tracking or override).
  shooting:bool (id: 6);

  // Whether the hood should adjust its position automatically.
  hood_tracking:bool (id: 7);

  // Whether the turret should follow the target automatically.
  turret_tracking:bool (id: 8);

  // Whether the kicker and flywheel should choose a velocity automatically.
  shooter_tracking:bool (id: 9);

  // Whether to serialize a ball under the accelerator tower
  // so it is ready to shoot.
  intake_preloading:bool (id: 12);

  // Positive is deploying climber and to climb; cannot run in reverse
  climber_voltage:float (id: 10);

  // Feed voltage override.
  feed_voltage_override:float (id: 13);
}

root_type Goal;