blob: 93c31cdb38f7728a545aeb8ee059cd71b05845db [file] [log] [blame]
include "frc971/control_loops/profiled_subsystem.fbs";
namespace y2019.control_loops.superstructure;
table SuctionGoal {
// True = apply suction
grab_piece:bool (id: 0);
// 0 = ball mode
// 1 = disk mode
gamepiece_mode:int (id: 1);
}
table Goal {
// Meters, 0 = lowest position - mechanical hard stop,
// positive = upward
elevator:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 0);
// 0 = linkage on the sprocket is pointing straight up,
// positive = forward
intake:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 1);
// 0 = Straight up parallel to elevator
// Positive rotates toward intake from 0
wrist:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 2);
// Distance stilts extended out of the bottom of the robot. Positive = down.
// 0 is the height such that the bottom of the stilts is tangent to the
// bottom of the middle wheels.
stilts:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 3);
// Positive is rollers intaking inward.
roller_voltage:float (id: 4);
suction:SuctionGoal (id: 5);
}
root_type Goal;