y2024_bot3/constants/constants.fbs

include "frc971/vision/calibration.fbs";
include "frc971/vision/target_map.fbs";
include "frc971/control_loops/profiled_subsystem.fbs";
include "frc971/zeroing/constants.fbs";
include "frc971/math/matrix.fbs";

namespace y2024_bot3;

table CameraConfiguration {
  calibration:frc971.vision.calibration.CameraCalibration (id: 0);
}

table ArmPositions {
  intake:double (id: 0);
  idle:double (id: 1);
  amp:double (id: 2);
}

table PotAndAbsEncoderConstants {
  zeroing_constants:frc971.zeroing.PotAndAbsoluteEncoderZeroingConstants (id: 0);
  potentiometer_offset:double (id: 1);
  arm_positions:ArmPositions (id: 2);
}

table RobotConstants {
  arm_constants:PotAndAbsEncoderConstants (id: 0);
}

// Common table for constants unrelated to the robot
table Common {
  target_map:frc971.vision.TargetMap (id: 0);
  arm:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemCommonParams (id: 1);
}

table Constants {
  cameras:[CameraConfiguration] (id: 0);
  robot:RobotConstants (id: 1);
  common:Common (id: 2);
}

root_type Constants;