y2018/control_loops/superstructure/superstructure_goal.fbs

include "frc971/control_loops/control_loops.fbs";

namespace y2018.control_loops.superstructure;

table IntakeGoal {
  roller_voltage:double;

  // Goal angle in radians of the intake.
  // Zero radians is where the intake is pointing straight out, with positive
  // radians inward towards the cube.
  left_intake_angle:double;
  right_intake_angle:double;
}

table Goal {
  intake:IntakeGoal;

  // Used to identiy a position in the planned set of positions on the arm.
  arm_goal_position:uint;
  // If true, start the grab box sequence.
  grab_box:bool;

  open_claw:bool;
  close_claw:bool;

  deploy_fork:bool;

  hook_release:bool;

  voltage_winch:double;

  open_threshold:double;

  disable_box_correct:bool;

  trajectory_override:bool;
}

root_type Goal;