y2016/control_loops/superstructure/superstructure_goal.fbs

namespace y2016.control_loops.superstructure;

table Goal {
  // Zero on the intake is when the horizontal tube stock members are level
  // with the top frame rails of the robot.  This will be essentially when we
  // are in the intaking position.  Positive is up.  The angle is measured
  // relative to the top
  // of the robot frame.
  // Zero on the shoulder is when the shoulder is down against the hard stop
  // blocks.  Positive is up.  The angle is measured relative to the top of
  // the robot frame.
  // Zero on the wrist is horizontal and landed in the bellypan.  Positive is
  // the same direction as the shoulder.  The angle is measured relative to
  // the top of the robot frame.  For calibration, 0 is measured as parallel
  // to the big frame supporting the shooter.

  // Goal angles and angular velocities of the superstructure subsystems.
  angle_intake:double;
  angle_shoulder:double;
  // In relation to the ground plane.
  angle_wrist:double;

  // Caps on velocity/acceleration for profiling. 0 for the default.
  max_angular_velocity_intake:float;
  max_angular_velocity_shoulder:float;
  max_angular_velocity_wrist:float;

  max_angular_acceleration_intake:float;
  max_angular_acceleration_shoulder:float;
  max_angular_acceleration_wrist:float;

  // Voltage to send to the rollers. Positive is sucking in.
  voltage_top_rollers:float;
  voltage_bottom_rollers:float;

  // Voltage to sent to the climber. Positive is pulling the robot up.
  voltage_climber:float;
  // If true, unlatch the climber and allow it to unfold.
  unfold_climber:bool;

  force_intake:bool;

  // If true, release the latch which holds the traverse mechanism in the
  // middle.
  traverse_unlatched:bool;
  // If true, fire the traverse mechanism down.
  traverse_down:bool;
}

root_type Goal;