y2014/control_loops/claw/claw_position.fbs

include "frc971/control_loops/control_loops.fbs";

namespace y2014.control_loops.claw;

// All angles here are 0 vertical, positive "up" (aka backwards).
table HalfClawPosition {
  // The current position of this half of the claw.
  position:double (id: 0);

  // The hall effect sensor at the front limit.
  front:frc971.HallEffectStruct (id: 1);
  // The hall effect sensor in the middle to use for real calibration.
  calibration:frc971.HallEffectStruct (id: 2);
  // The hall effect at the back limit.
  back:frc971.HallEffectStruct (id: 3);
}

table Position {
  // All the top claw information.
  top:HalfClawPosition (id: 0);
  // All the bottom claw information.
  bottom:HalfClawPosition (id: 1);
}

root_type Position;