y2018/control_loops/superstructure/superstructure_goal.fbs

include "frc971/control_loops/control_loops.fbs";

namespace y2018.control_loops.superstructure;

table IntakeGoal {
  roller_voltage:double (id: 0);

  // Goal angle in radians of the intake.
  // Zero radians is where the intake is pointing straight out, with positive
  // radians inward towards the cube.
  left_intake_angle:double (id: 1);
  right_intake_angle:double (id: 2);
}

table Goal {
  intake:IntakeGoal (id: 0);

  // Used to identiy a position in the planned set of positions on the arm.
  arm_goal_position:uint32 (id: 1);
  // If true, start the grab box sequence.
  grab_box:bool (id: 2);

  open_claw:bool (id: 3);
  close_claw:bool (id: 4);

  deploy_fork:bool (id: 5);

  hook_release:bool (id: 6);

  voltage_winch:double (id: 7);

  open_threshold:double (id: 8);

  disable_box_correct:bool (id: 9);

  trajectory_override:bool (id: 10);
}

root_type Goal;