y2017/control_loops/superstructure/superstructure_position.fbs

include "frc971/control_loops/control_loops.fbs";

namespace y2017.control_loops.superstructure;

table ColumnPosition {
  // Indexer angle in radians relative to the base.  Positive is according to
  // the right hand rule around +z.
  indexer:frc971.HallEffectAndPosition (id: 0);
  // Turret angle in radians relative to the indexer.  Positive is the same as
  // the indexer.
  turret:frc971.HallEffectAndPosition (id: 1);
}


table Position {
  // Position of the intake, zero when the intake is in, positive when it is
  // out.
  intake:frc971.PotAndAbsolutePosition (id: 0);

  // The position of the column.
  column:ColumnPosition (id: 1);

  // The sensor readings for the hood. The units and sign are defined the
  // same as what's in the Goal message.
  hood:frc971.IndexPosition (id: 2);

  // Shooter wheel angle in radians.
  theta_shooter:double (id: 3);
}

root_type Position;