| Maxwell Henderson | ad31234 | 2023-01-10 12:07:47 -0800 | [diff] [blame] | 1 | include "frc971/control_loops/profiled_subsystem.fbs"; |
| 2 | |
| 3 | namespace y2023.control_loops.superstructure; |
| 4 | |
| Maxwell Henderson | 5938a83 | 2023-02-23 09:33:15 -0800 | [diff] [blame] | 5 | enum RollerGoal: ubyte { |
| 6 | IDLE = 0, |
| Maxwell Henderson | bf1bcec | 2023-03-05 18:00:20 -0800 | [diff] [blame] | 7 | INTAKE_CONE_UP = 1, |
| milind-u | 71da539 | 2023-02-26 12:45:00 -0800 | [diff] [blame] | 8 | INTAKE_CUBE = 2, |
| 9 | INTAKE_LAST = 3, |
| 10 | SPIT = 4, |
| Maxwell Henderson | bf1bcec | 2023-03-05 18:00:20 -0800 | [diff] [blame] | 11 | INTAKE_CONE_DOWN = 5, |
| Maxwell Henderson | 5938a83 | 2023-02-23 09:33:15 -0800 | [diff] [blame] | 12 | } |
| Maxwell Henderson | ad31234 | 2023-01-10 12:07:47 -0800 | [diff] [blame] | 13 | |
| 14 | table Goal { |
| Nikita Narang | 27610fc | 2023-02-08 19:40:31 -0800 | [diff] [blame] | 15 | // Used to identify a position in the planned set of positions on the arm. |
| 16 | // Controls distal, proximal, and roll joints |
| 17 | arm_goal_position:uint32 (id: 0); |
| 18 | |
| milind-u | 01bbcf2 | 2023-02-20 18:00:28 -0800 | [diff] [blame] | 19 | // Overrides the current path to go to the next path |
| 20 | trajectory_override:bool (id: 1); |
| 21 | |
| 22 | wrist:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 2); |
| Nikita Narang | 27610fc | 2023-02-08 19:40:31 -0800 | [diff] [blame] | 23 | |
| Maxwell Henderson | 5938a83 | 2023-02-23 09:33:15 -0800 | [diff] [blame] | 24 | roller_goal:RollerGoal (id: 3); |
| Maxwell Henderson | ad31234 | 2023-01-10 12:07:47 -0800 | [diff] [blame] | 25 | } |
| 26 | |
| 27 | |
| 28 | |
| 29 | root_type Goal; |