y2022/control_loops/superstructure/superstructure_goal.fbs

include "frc971/control_loops/profiled_subsystem.fbs";

namespace y2022.control_loops.superstructure;

table CatapultGoal {
  // If true, fire!  The robot will only fire when ready.
  fire:bool (id: 0);

  // 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.
  roller_speed_front:double (id: 3);
  roller_speed_back:double (id: 4);
  // One transfer motor for both sides
  transfer_roller_speed:double (id: 5);

  // 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);
}

root_type Goal;