frc971/control_loops/profiled_subsystem.fbs

include "frc971/control_loops/control_loops.fbs";

namespace frc971.control_loops;

table ProfiledJointStatus {
  // Is the subsystem zeroed?
  zeroed:bool;

  // The state of the subsystem, if applicable.  -1 otherwise.
  // TODO(alex): replace with enum.
  state:int;

  // If true, we have aborted.
  estopped:bool;

  // Position of the joint.
  position:float;
  // Velocity of the joint in units/second.
  velocity:float;
  // Profiled goal position of the joint.
  goal_position:float;
  // Profiled goal velocity of the joint in units/second.
  goal_velocity:float;
  // Unprofiled goal position from absoulte zero  of the joint.
  unprofiled_goal_position:float;
  // Unprofiled goal velocity of the joint in units/second.
  unprofiled_goal_velocity:float;

  // The estimated voltage error.
  voltage_error:float;

  // The calculated velocity with delta x/delta t
  calculated_velocity:float;

  // Components of the control loop output
  position_power:float;
  velocity_power:float;
  feedforwards_power:float;

  // State of the estimator.
  estimator_state:frc971.EstimatorState;
}

table HallProfiledJointStatus {
  // Is the subsystem zeroed?
  zeroed:bool;

  // The state of the subsystem, if applicable.  -1 otherwise.
  // TODO(alex): replace with enum.
  state:int;

  // If true, we have aborted.
  estopped:bool;

  // Position of the joint.
  position:float;
  // Velocity of the joint in units/second.
  velocity:float;
  // Profiled goal position of the joint.
  goal_position:float;
  // Profiled goal velocity of the joint in units/second.
  goal_velocity:float;
  // Unprofiled goal position from absoulte zero  of the joint.
  unprofiled_goal_position:float;
  // Unprofiled goal velocity of the joint in units/second.
  unprofiled_goal_velocity:float;

  // The estimated voltage error.
  voltage_error:float;

  // The calculated velocity with delta x/delta t
  calculated_velocity:float;

  // Components of the control loop output
  position_power:float;
  velocity_power:float;
  feedforwards_power:float;

  // State of the estimator.
  estimator_state:frc971.HallEffectAndPositionEstimatorState;
}

table PotAndAbsoluteEncoderProfiledJointStatus {
  // Is the subsystem zeroed?
  zeroed:bool;

  // The state of the subsystem, if applicable.  -1 otherwise.
  // TODO(alex): replace with enum.
  state:int;

  // If true, we have aborted.
  estopped:bool;

  // Position of the joint.
  position:float;
  // Velocity of the joint in units/second.
  velocity:float;
  // Profiled goal position of the joint.
  goal_position:float;
  // Profiled goal velocity of the joint in units/second.
  goal_velocity:float;
  // Unprofiled goal position from absoulte zero  of the joint.
  unprofiled_goal_position:float;
  // Unprofiled goal velocity of the joint in units/second.
  unprofiled_goal_velocity:float;

  // The estimated voltage error.
  voltage_error:float;

  // The calculated velocity with delta x/delta t
  calculated_velocity:float;

  // Components of the control loop output
  position_power:float;
  velocity_power:float;
  feedforwards_power:float;

  // State of the estimator.
  estimator_state:frc971.PotAndAbsoluteEncoderEstimatorState;
}

table IndexProfiledJointStatus {
  // Is the subsystem zeroed?
  zeroed:bool;

  // The state of the subsystem, if applicable.  -1 otherwise.
  // TODO(alex): replace with enum.
  state:int;

  // If true, we have aborted.
  estopped:bool;

  // Position of the joint.
  position:float;
  // Velocity of the joint in units/second.
  velocity:float;
  // Profiled goal position of the joint.
  goal_position:float;
  // Profiled goal velocity of the joint in units/second.
  goal_velocity:float;
  // Unprofiled goal position from absoulte zero  of the joint.
  unprofiled_goal_position:float;
  // Unprofiled goal velocity of the joint in units/second.
  unprofiled_goal_velocity:float;

  // The estimated voltage error.
  voltage_error:float;

  // The calculated velocity with delta x/delta t
  calculated_velocity:float;

  // Components of the control loop output
  position_power:float;
  velocity_power:float;
  feedforwards_power:float;

  // State of the estimator.
  estimator_state:frc971.IndexEstimatorState;
}

table AbsoluteEncoderProfiledJointStatus {
  // Is the subsystem zeroed?
  zeroed:bool;

  // The state of the subsystem, if applicable.  -1 otherwise.
  // TODO(alex): replace with enum.
  state:int;

  // If true, we have aborted.
  estopped:bool;

  // Position of the joint.
  position:float;
  // Velocity of the joint in units/second.
  velocity:float;
  // Profiled goal position of the joint.
  goal_position:float;
  // Profiled goal velocity of the joint in units/second.
  goal_velocity:float;
  // Unprofiled goal position from absoulte zero  of the joint.
  unprofiled_goal_position:float;
  // Unprofiled goal velocity of the joint in units/second.
  unprofiled_goal_velocity:float;

  // The estimated voltage error.
  voltage_error:float;

  // The calculated velocity with delta x/delta t
  calculated_velocity:float;

  // Components of the control loop output
  position_power:float;
  velocity_power:float;
  feedforwards_power:float;

  // State of the estimator.
  estimator_state:frc971.AbsoluteEncoderEstimatorState;
}

table RelativeEncoderProfiledJointStatus {
  // The state of the subsystem, if applicable.  -1 otherwise.
  // TODO(alex): replace with enum.
  state:int;

  // If true, we have aborted.
  estopped:bool;

  // Position of the joint.
  position:float;
  // Velocity of the joint in units/second.
  velocity:float;
  // Profiled goal position of the joint.
  goal_position:float;
  // Profiled goal velocity of the joint in units/second.
  goal_velocity:float;
  // Unprofiled goal position from absoulte zero  of the joint.
  unprofiled_goal_position:float;
  // Unprofiled goal velocity of the joint in units/second.
  unprofiled_goal_velocity:float;

  // The estimated voltage error.
  voltage_error:float;

  // The calculated velocity with delta x/delta t
  calculated_velocity:float;

  // Components of the control loop output
  position_power:float;
  velocity_power:float;
  feedforwards_power:float;

  // State of the estimator.
  estimator_state:frc971.RelativeEncoderEstimatorState;
}

table StaticZeroingSingleDOFProfiledSubsystemGoal {
  unsafe_goal:double;

  profile_params:frc971.ProfileParameters;

  // Sets the goal velocity of the subsystem.
  goal_velocity:double;

  // If set to true, then we will ignore the profiling on this joint and pass
  // the goal + goal velocity directly to the control loop.
  ignore_profile:bool;
}