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include "frc971/control_loops/control_loops.fbs";
include "frc971/control_loops/profiled_subsystem.fbs";
namespace y2024.control_loops.superstructure;
// Contains if intake is intaking
enum IntakeRollerState : ubyte {
NONE = 0,
SPITTING = 1,
INTAKING = 2,
}
enum CatapultStatus: ubyte {
// Means we are waiting for a game piece
IDLE = 0,
// Means we have a game piece
LOADED = 1,
// Means we are firing a game piece
FIRING = 2,
}
table ShooterStatus {
// Estimated angle and angular velocitiy of the turret.
turret_state:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus (id: 0);
// Estimated angle and angular velocitiy of the catapult.
catapult_state:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus (id: 1);
// Estimated angle and angular velocitiy of the altitude.
altitude_state:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus (id: 2);
catapult_status: CatapultStatus (id: 3);
}
// Contains status of transfer rollers
enum TransferRollerState : ubyte {
NONE = 0,
TRANSFERING_IN = 1,
TRANSFERING_OUT = 2,
}
table Status {
// All subsystems know their location.
zeroed:bool (id: 0);
// If true, we have aborted. This is the or of all subsystem estops.
estopped:bool (id: 1);
// State of the rollers
intake_roller_state:IntakeRollerState (id: 2);
// Estimated angle and angular velocitiy of the intake.
intake_pivot_state:frc971.control_loops.AbsoluteEncoderProfiledJointStatus (id: 3);
// State of transfer rollers
transfer_roller_state:TransferRollerState (id: 4);
// Estimated angle and angular velocitiy of the climber.
climber_state:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus (id: 5);
// Status of the subsytems involved in the shooter
shooter_status:ShooterStatus (id: 6);
}
root_type Status;