y2020/control_loops/superstructure/superstructure_goal.fbs

include "frc971/control_loops/profiled_subsystem.fbs";

namespace y2020.control_loops.superstructure;

table ShooterGoal {
  // Angular velocity in rad/s of the slowest (lowest) wheel in the kicker.
  // Positive is shooting the ball.
  velocity_kicker:double;

  // Angular velocity in rad/s of the flywheel. Positive is shooting.
  velocity_flywheel:double;
}

table Goal {
  // Zero is at the horizontal, positive towards the front (meters on the lead screw).
  // Only applies if hood_tracking = false.
  hood:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal;

  // Positive = counterclockwise from above; rotates Wheel of Fortune clockwise
  // Zero is relative to start.
  control_panel:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal;

  // 0 = Linkage on sprocket is pointing straight up
  // Positive = forward
  intake:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal;

  //Positive is rollers intaking to Washing Machine.
  roller_voltage:float;

  // 0 = facing the front of the robot. Positive rotates counterclockwise.
  // TODO(Kai): Define which wrap of the shooter is 0 if it can rotate past
  // forward more than once.
  turret:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal;

  // Only applies if shooter_tracking = false.
  shooter:ShooterGoal;

  // Whether the robot should be shooting balls. Waits until hood, turret, and
  // shooter are at goal (as determined by auto-tracking or override).
  shooting:bool;

  // Whether the hood should adjust its position automatically.
  hood_tracking:bool;

  // Whether the turret should follow the target automatically.
  turret_tracking:bool;

  // Whether the kicker and flywheel should choose a velocity automatically.
  shooter_tracking:bool;

  // Positive is deploying climber and to climb; cannot run in reverse
  climber_winch_voltage:double;
}

root_type Goal;