y2022/control_loops/superstructure/superstructure_goal.fbs

include "frc971/control_loops/profiled_subsystem.fbs";

namespace y2022.control_loops.superstructure;

// Which intake to transfer to the turret from.
enum RequestedIntake : ubyte {
  kFront = 0,
  kBack = 1,
}

table CatapultGoal {
  // Old fire flag, only kept for backwards-compatability with logs.
  // Use the fire flag in the root Goal instead
  fire:bool (id: 0, deprecated);

  // The target shot position and velocity.  If these are provided before fire
  // is called, the optimizer can pre-compute the trajectory.
  shot_position:double (id: 1);
  shot_velocity:double (id: 2);

  // The target position to return the catapult to when not shooting.
  return_position:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 3);
}

table Goal {
  // Height of the climber above rest point
  climber:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 0);

  // Goal angles of intake joints.
  // Positive is out, 0 is up.
  intake_front:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 1);
  intake_back:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 2);

  // Positive is rollers intaking.
  // When spinning the rollers, the turret will be moved to that side,
  // so both shouldn't be positive at the same time.
  roller_speed_front:double (id: 3);
  roller_speed_back:double (id: 4);

  // Positive is intaking front and spitting back, negative is the opposite
  transfer_roller_speed:double (id: 5);
  // Not used anymore - just one transfer roller speed to control both
  transfer_roller_speed_back:double (id: 12, deprecated);

  // Factor to multiply robot velocity by and add to roller voltage.
  roller_speed_compensation:double (id: 6);

  turret:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 7);

  // Catapult goal state.
  catapult:CatapultGoal (id: 8);

  // If true, fire!  The robot will only fire when ready.
  fire:bool (id: 9);

  // Aborts the shooting process if the ball has been loaded into the catapult
  // and the superstructure is in the LOADED state.
  cancel_shot:bool (id: 10);

  // If true, auto-track the turret to point at the goal.
  auto_aim:bool (id: 11);

  // If true, we started with the ball loaded and should proceed to that state.
  preloaded:bool (id: 13);

  // Specifies which intake the turret should move to to intake.
  turret_intake:RequestedIntake (id: 14);
}



root_type Goal;