y2020/control_loops/superstructure/superstructure_status.fbs

include "frc971/control_loops/control_loops.fbs";
include "frc971/control_loops/profiled_subsystem.fbs";

namespace y2020.control_loops.superstructure;

table ShooterSegmentStatus {
  // The current average velocity in radians/second over the last kHistoryLength
  // in shooter.h
  avg_angular_velocity:double;

  // The current instantaneous filtered velocity in radians/second.
  angular_velocity:double;

  // The target speed selected by the lookup table or from manual override
  // Can be compared to velocity to determine if ready.
  angular_velocity_goal:double;
}

table ShooterStatus {
  // The final wheel shooting the ball
  flywheel:ShooterSegmentStatus;

  // The subsystem to accelerate the ball before the flywheel
  // Velocity is the slowest (lowest) wheel
  kicker_left:ShooterSegmentStatus;
  kicker_right:ShooterSegmentStatus;
}

table Status {
  // All subsystems know their location.
  zeroed:bool;

  // If true, we have aborted. This is the or of all subsystem estops.
  estopped:bool;

  //Subsystem status.
  hood:frc971.control_loops.AbsoluteEncoderProfiledJointStatus;
  intake:frc971.control_loops.AbsoluteEncoderProfiledJointStatus;
  turret:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus;

  // Shooter subsystem status.
  shooter:ShooterStatus;
}

root_type Status;