y2023/constants/constants.fbs

include "frc971/vision/calibration.fbs";
include "frc971/vision/target_map.fbs";
include "frc971/control_loops/profiled_subsystem.fbs";
include "frc971/zeroing/constants.fbs";
include "y2023/localizer/scoring_map.fbs";

namespace y2023;

table CameraConfiguration {
  calibration:frc971.vision.calibration.CameraCalibration (id: 0);
}

// Data point for a single time of flight sensor reading. Used in a linear
// interpolation table.
table TimeOfFlightDatum {
  // Time-of-flight sensor reading for the datum.
  tof_reading:double (id: 0);
  // Where the game piece is laterally in the robot frame. 0 = centered;
  // positive = to the left of the robot.
  // In meters.
  lateral_position:double (id: 1);
}

table TimeOfFlight {
  interpolation_table:[TimeOfFlightDatum] (id: 0);
}

table RobotConstants {
  // Table of time-of-flight reading positions. Until we bother using one
  // of our interpolation classes, should just contain two values.
  tof:TimeOfFlight (id: 0);
  wrist_zero:frc971.zeroing.AbsoluteEncoderZeroingConstants (id: 1);
}

// Set of april tag targets, by april tag ID, to ignore when on a
// given alliance.
table IgnoreTargets {
  red:[uint64] (id: 0);
  blue:[uint64] (id: 1);
}

table Constants {
  cameras:[CameraConfiguration] (id: 0);
  target_map:frc971.vision.TargetMap (id: 1);
  scoring_map:localizer.ScoringMap (id: 2);
  robot:RobotConstants (id: 3);
  ignore_targets:IgnoreTargets (id: 4);
  wrist:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemCommonParams (id: 5);
}

root_type Constants;