y2020/control_loops/superstructure/superstructure_status.fbs

include "frc971/control_loops/control_loops.fbs";
include "frc971/control_loops/profiled_subsystem.fbs";

namespace y2020.control_loops.superstructure;

table FlywheelControllerStatus {
  // The current average velocity in radians/second over the last kHistoryLength
  // in shooter.h
  avg_angular_velocity:double;

  // The current instantaneous filtered velocity in radians/second.
  angular_velocity:double;

  // The target speed selected by the lookup table or from manual override
  // Can be compared to velocity to determine if ready.
  angular_velocity_goal:double;

  // Voltage error.
  voltage_error:double;
}

table ShooterStatus {
  // The final wheel shooting the ball
  finisher:FlywheelControllerStatus;

  // The subsystem to accelerate the ball before the finisher
  // Velocity is the fastest (top) wheel
  accelerator_left:FlywheelControllerStatus;
  accelerator_right:FlywheelControllerStatus;
}

table AimerStatus {
  // The current goal angle for the turret auto-tracking, in radians.
  turret_position:double;
  // The current goal velocity for the turret, in radians / sec.
  turret_velocity:double;
  // Whether we are currently aiming for the inner port.
  aiming_for_inner_port:bool;
}

table Status {
  // All subsystems know their location.
  zeroed:bool;

  // If true, we have aborted. This is if one or all subsystem estops.
  estopped:bool;

  // Subsystem status.
  hood:frc971.control_loops.AbsoluteEncoderProfiledJointStatus;
  intake:frc971.control_loops.AbsoluteEncoderProfiledJointStatus;
  turret:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus;

  // Shooter subsystem status.
  shooter:ShooterStatus;

  // Status of the control_panel
  control_panel:frc971.control_loops.RelativeEncoderProfiledJointStatus;

  // Status of the vision auto-tracking.
  aimer:AimerStatus;
}

root_type Status;