y2014/control_loops/shooter/shooter_position.fbs

include "frc971/control_loops/control_loops.fbs";

namespace y2014.control_loops.shooter;

// Back is when the springs are all the way stretched.
table Position {
  // In meters, out is positive.
  position:double;

  // If the latch piston is fired and this hall effect has been triggered, the
  // plunger is all the way back and latched.
  plunger:bool;
  // Gets triggered when the pusher is all the way back.
  pusher_distal:frc971.PosedgeOnlyCountedHallEffectStruct;
  // Triggers just before pusher_distal.
  pusher_proximal:frc971.PosedgeOnlyCountedHallEffectStruct;
  // Triggers when the latch engages.
  latch:bool;
}

root_type Position;