y2019/control_loops/superstructure/superstructure_output.fbs

namespace y2019.control_loops.superstructure;

table Output {
  // Voltage sent to motors moving elevator up/down. Positive is up.
  elevator_voltage:double (id: 0);

  // Voltage sent to wrist motors on elevator to rotate.
  // Positive rotates over the top towards the front of the robot.
  wrist_voltage:double (id: 1);

  // Voltage sent to motors on intake joint. Positive extends rollers.
  intake_joint_voltage:double (id: 2);

  // Voltage sent to rollers on intake. Positive rolls inward.
  intake_roller_voltage:double (id: 3);

  // Voltage sent to motors to move stilts height. Positive moves robot
  // upward.
  stilts_voltage:double (id: 4);

  // True opens solenoid (applies suction)
  // Top/bottom are when wrist is toward the front of the robot
  intake_suction_top:bool (id: 5);
  intake_suction_bottom:bool (id: 6);

  // Voltage sent to the vacuum pump motors.
  pump_voltage:double (id: 7);
}

root_type Output;