y2023/control_loops/superstructure/superstructure_goal.fbs

include "frc971/control_loops/profiled_subsystem.fbs";

namespace y2023.control_loops.superstructure;


table Goal {
    // Used to identify a position in the planned set of positions on the arm.
    // Controls distal, proximal, and roll joints
    arm_goal_position:uint32 (id: 0);

    // Overrides the current path to go to the next path
    trajectory_override:bool (id: 1);

    wrist:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 2);

    // If this is true, the rollers should intake.
    intake:bool (id: 3);

    // If this is true, the rollers should spit.
    spit:bool (id: 4);
}



root_type Goal;