y2024/control_loops/superstructure/superstructure_goal.fbs

include "frc971/control_loops/profiled_subsystem.fbs";

namespace y2024.control_loops.superstructure;

// Represents goal for intake rollers
enum IntakeRollerGoal : ubyte {
    NONE = 0,
    SPIT = 1,
    INTAKE = 2,
}

// Represents goal for pivot on intake
enum IntakePivotGoal : ubyte {
    EXTENDED = 0,
    RETRACTED = 1, 
}

table CatapultGoal {
    // The target shot position and velocity.  If these are provided before fire
    // is called, the optimizer can pre-compute the trajectory.
    shot_position: double (id: 0);
    shot_velocity: double (id: 1);

    // Return position of the catapult
    return_position: double (id: 2);
}

table Goal {
    intake_roller_goal:IntakeRollerGoal (id: 0);
    intake_pivot_goal:IntakePivotGoal (id: 1);

    catapult_goal:CatapultGoal (id: 2);
}

root_type Goal;