y2024/control_loops/superstructure/superstructure_goal.fbs

include "frc971/control_loops/profiled_subsystem.fbs";
include "frc971/control_loops/catapult/catapult_goal.fbs";

namespace y2024.control_loops.superstructure;

// Represents goal for intake rollers
enum IntakeRollerGoal : ubyte {
    NONE = 0,
    SPIT = 1,
    INTAKE = 2,
}

// Represents goal for pivot on intake
enum IntakePivotGoal : ubyte {
    EXTENDED = 0,
    RETRACTED = 1, 
}

// Represents goal of transfer rollers
// TRANSFER_IN is for transfering game piece in from the intake to the shooter
// TRANSFER_OUT is for transfering game piece out to the intake for spitting
enum TransferRollerGoal : ubyte {
    NONE = 0,
    TRANSFER_IN = 1,
    TRANSFER_OUT = 2,
}

// Represents goal for climber
// FULL_EXTEND is for fully extending the climber
// HALF_EXTEND is for partially extending the climber
// RETRACT is for retracting the climber
enum ClimberGoal : ubyte {
    FULL_EXTEND = 0,
    HALF_EXTEND = 1,
    RETRACT = 2,
}

table ShooterGoal {
    catapult_goal:frc971.control_loops.catapult.CatapultGoal (id: 0);
    fire: bool (id: 1);
    // If true we ignore the other provided positions
    auto_aim: bool (id: 2);

    // Position for the turret when we aren't auto aiming
    turret_position: frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 3);

    // Position for the altitude when we aren't auto aiming
    altitude_position: frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 4);

     // If true, we started with the ball loaded and should proceed to that state.
    preloaded:bool = false (id: 5);
}

// Represents goal for extend
// RETRACT is for retracting the extender to stowed position
// In the retracted position, the game piece may be transfered to the catapult
// AMP is for extending the extender to the AMP scoring position
// TRAP is for extending the extender to the TRAP scoring position
enum ExtendGoal : ubyte {
    RETRACT = 0,
    AMP = 1,
    TRAP = 2,
}

enum ExtendRollerGoal : ubyte {
    NONE = 0,
    SCORING = 1,
    REVERSING = 2,
}

table Goal {
    intake_roller_goal:IntakeRollerGoal (id: 0);
    intake_pivot_goal:IntakePivotGoal (id: 1);
    catapult_goal:frc971.control_loops.catapult.CatapultGoal (id: 2);
    transfer_roller_goal:TransferRollerGoal (id: 3);
    climber_goal:ClimberGoal (id: 4);
    shooter_goal:ShooterGoal (id: 5);
    extend_goal:ExtendGoal (id: 6);
    extend_roller_goal:ExtendRollerGoal (id: 7);
}
root_type Goal;