frc971/control_loops/drivetrain/drivetrain_goal.fbs

include "frc971/control_loops/control_loops.fbs";

namespace frc971.control_loops.drivetrain;

enum ControllerType : byte {
  POLYDRIVE,
  MOTION_PROFILE,
  SPLINE_FOLLOWER,
  LINE_FOLLOWER,
}

table SplineGoal {
  // index of the spline. Zero indicates the spline should not be computed.
  spline_idx:int (id: 0);

  // Acutal spline.
  spline:frc971.MultiSpline (id: 1);

  // Whether to follow the spline driving forwards or backwards.
  drive_spline_backwards:bool (id: 2);
}

table Goal {
  // Position of the steering wheel (positive = turning left when going
  // forwards).
  wheel:float (id: 0);
  wheel_velocity:float (id: 1);
  wheel_torque:float (id: 2);

  // Position of the throttle (positive forwards).
  throttle:float (id: 3);
  throttle_velocity:float (id: 4);
  throttle_torque:float (id: 5);

  // True to shift into high, false to shift into low.
  highgear:bool (id: 6);

  // True to activate quickturn.
  quickturn:bool (id: 7);

  // Type of controller in charge of the drivetrain.
  controller_type:ControllerType (id: 8);

  // Position goals for each drivetrain side (in meters) when the
  // closed-loop controller is active.
  left_goal:double (id: 9);
  right_goal:double (id: 10);

  max_ss_voltage:float (id: 11);

  // Motion profile parameters.
  // The control loop will profile if these are all non-zero.
  linear:ProfileParameters (id: 12);
  angular:ProfileParameters (id: 13);

  // Parameters for a spline to follow. This just contains info on a spline to
  // compute. Each time this is sent, spline drivetrain will compute a new
  // spline.
  spline:SplineGoal (id: 14);

  // Which spline to follow.
  spline_handle:int (id: 15);
}

root_type Goal;