y2024/constants/constants.fbs

include "frc971/vision/calibration.fbs";
include "frc971/vision/target_map.fbs";
include "frc971/control_loops/profiled_subsystem.fbs";
include "frc971/zeroing/constants.fbs";
include "frc971/math/matrix.fbs";
include "frc971/control_loops/drivetrain/drivetrain_config.fbs";

namespace y2024;

table CameraConfiguration {
  calibration:frc971.vision.calibration.CameraCalibration (id: 0);
}

table ShotParams {
    shot_velocity: double (id: 0);

    // Angle of the altitude
    shot_altitude_angle: double (id: 1);

    // Angle of the catapult
    shot_catapult_angle: double (id: 2);

    // Speed over ground to use for shooting on the fly
    shot_speed_over_ground: double (id: 3);
}

table InterpolationTablePoint {
    distance_from_goal: double (id: 0);
    shot_params: ShotParams (id: 1);
}

// Amount of voltage to give to the intake rollers when:
// spitting, which represents voltage when IntakeRollerGoal is SPITTING
// and intaking, which represents voltage when IntakeRollerGoal is INTAKING
table IntakeRollerVoltages {
  spitting:double (id: 0);
  intaking:double (id: 1);
}

// Set points for the pivot in radians when:
// extended, which represents radians for when IntakePivotGoal is EXTENDED
// and retracted, which represents radians for when IntakePivotGoal is RETRACTED or NONE
table IntakePivotSetPoints {
  extended:double (id: 0);
  retracted:double (id: 1);
}

// Set points for the climber in meters when:
// fully extended, which represents meters for when ClimberGoal is FULL_EXTEND
// partially extended, which represents meters for when ClimberGoal is HALF_EXTEND
// and retracted, which represents meters for when ClimberGoal is RETRACT
table ClimberSetPoints {
  full_extend:double (id: 0);
  stowed:double (id: 1);
  retract:double (id: 2);
}

table PotAndAbsEncoderConstants {
  zeroing_constants:frc971.zeroing.PotAndAbsoluteEncoderZeroingConstants (id: 0);
  potentiometer_offset:double (id: 1);
}

// Stores current limits for motors
table CurrentLimits {
  intake_pivot_supply_current_limit:double (id: 0);
  intake_pivot_stator_current_limit:double (id: 1);
  intake_roller_supply_current_limit:double (id: 2);
  intake_roller_stator_current_limit:double (id: 3);
  transfer_roller_supply_current_limit:double (id: 4);
  transfer_roller_stator_current_limit:double (id: 5);
  drivetrain_supply_current_limit:double (id: 6);
  drivetrain_stator_current_limit:double (id: 7);
  climber_supply_current_limit:double (id: 8);
  climber_stator_current_limit:double (id: 9);
  extend_supply_current_limit:double (id: 10);
  extend_stator_current_limit:double (id: 11);
  extend_roller_supply_current_limit:double (id: 12);
  extend_roller_stator_current_limit:double (id: 13);
  turret_supply_current_limit:double (id: 14);
  turret_stator_current_limit:double (id: 15);
  altitude_supply_current_limit:double (id: 16);
  altitude_stator_current_limit:double (id: 17);
  retention_roller_supply_current_limit:double (id: 18);
  retention_roller_stator_current_limit:double (id: 19);
  slower_retention_roller_stator_current_limit:double (id: 20);
  shooting_retention_roller_stator_current_limit:double (id: 23);
  catapult_supply_current_limit:double (id: 21);
  catapult_stator_current_limit:double (id: 22);
}

table TransferRollerVoltages {
  // Voltage to apply while intaking the game piece.
  transfer_in:double (id: 0);
  // Voltage to apply while spitting the game piece.
  transfer_out:double (id: 1);
  // Voltage to apply while the extend is moving and dragging the
  // game piece out of the rollers.
  extend_moving:double (id: 2);
}

table ExtendRollerVoltages {
  scoring:double (id: 0);
  reversing:double (id: 1);
}

// Extend positions
table ExtendSetPoints {
  // The position which lets us score on the trap.
  trap:double (id: 0);
  // The position which lets us score on the amp.
  amp:double (id: 1);
  // The position which lets us transfer into the catapult.
  catapult:double (id: 2);
  // The position near 0 where we are ready to intake a note.
  retracted:double (id: 3);
}

enum AutonomousMode : ubyte {
  NONE = 0,
  // Simple test S-spline auto mode
  SPLINE_AUTO = 1,
  // Simple drive-and-shoot to pick up at most one game piece.
  MOBILITY_AND_SHOOT = 2,
  // Auto to pick up four game pieces.
  FOUR_PIECE = 3,
  // Auto which picks up two game pieces from the center
  TWO_PIECE_STEAL = 4,
}

table RobotConstants {
  intake_constants:frc971.zeroing.AbsoluteEncoderZeroingConstants (id: 0);
  // Deprecated since climber no longer has an encoder
  climber_constants:PotAndAbsEncoderConstants (id: 1, deprecated);
  climber_potentiometer_offset:double (id: 8);
  catapult_constants:PotAndAbsEncoderConstants (id: 2);
  altitude_constants:PotAndAbsEncoderConstants (id: 3);
  turret_constants:PotAndAbsEncoderConstants (id: 4);
  extend_constants:PotAndAbsEncoderConstants (id: 5);
  disable_extend:bool (id: 6);
  disable_climber:bool (id: 7);
}

table ShooterSetPoint {
  turret_position: double (id: 0);
  altitude_position: double (id: 1);
  shot_velocity:double (id: 2);
}

table Pose {
  // Pos is a 3x1 matrix which contains the (x, y, z) component of the Pose.
  pos: frc971.fbs.Matrix (id: 0);
  theta: double (id: 1);
}

table ShooterTargets {
  // The Pose of the red and blue alliance speakers we are aiming at.
  red_alliance: Pose (id: 0);
  blue_alliance: Pose (id: 1);
}

table RetentionRollerVoltages {
  retaining:double (id: 0);
  spitting:double (id: 1);
}

// Set of april tag targets, by april tag ID, to ignore when on a
// given alliance.
table IgnoreTargets {
  red:[uint64] (id: 0);
  blue:[uint64] (id: 1);
}

// Common table for constants unrelated to the robot
table Common {
  target_map:frc971.vision.TargetMap (id: 0);
  shooter_interpolation_table: [InterpolationTablePoint] (id: 1);
  intake_roller_voltages:IntakeRollerVoltages (id : 2);
  intake_pivot_set_points:IntakePivotSetPoints (id: 3);
  intake_pivot:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemCommonParams (id: 4);
  drivetrain:frc971.control_loops.drivetrain.fbs.DrivetrainConfig (id: 5);
  current_limits:CurrentLimits (id: 6);
  transfer_roller_voltages:TransferRollerVoltages (id: 7);
  climber:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemCommonParams (id: 8, deprecated);
  climber_set_points:ClimberSetPoints (id: 9, deprecated);
  turret_loading_position: double (id: 10);
  catapult_return_position: double (id: 11);
  catapult:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemCommonParams (id: 12);
  altitude:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemCommonParams (id: 13);
  turret:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemCommonParams (id: 14);
  extend:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemCommonParams (id: 15);
  extend_roller_voltages:ExtendRollerVoltages (id: 16);
  shooter_targets:ShooterTargets (id: 17);
  altitude_loading_position: double (id: 18);
  retention_roller_voltages:RetentionRollerVoltages (id: 19);
  min_altitude_shooting_angle: double (id: 20);
  max_altitude_shooting_angle: double (id: 25);
  shooter_speaker_set_point: ShooterSetPoint (id: 21);
  shooter_podium_set_point: ShooterSetPoint (id: 22);
  extend_set_points:ExtendSetPoints (id: 23);
  // The position to move the turret to when avoiding collision
  // with the extend when the extend is moving to amp/trap position.
  turret_avoid_extend_collision_position: double (id: 24);
  altitude_avoid_extend_collision_position: double (id: 28);
  autonomous_mode:AutonomousMode (id: 26);
  ignore_targets:IgnoreTargets (id: 27);
}

table Constants {
  cameras:[CameraConfiguration] (id: 0);
  robot:RobotConstants (id: 1);
  common:Common (id: 2);
}

root_type Constants;