y2017/control_loops/superstructure/superstructure_goal.fbs

include "frc971/control_loops/control_loops.fbs";

namespace y2017.control_loops.superstructure;

table IntakeGoal {
  // Zero for the intake is when the front tube is tangent with the front of the
  // frame. Positive is out.

  // Goal distance of the intake.
  distance:double;

  // Caps on velocity/acceleration for profiling. 0 for the default.
  profile_params:frc971.ProfileParameters;

  // Voltage to send to the rollers. Positive is sucking in.
  voltage_rollers:double;

  // If true, disable the intake so we can hang.
  disable_intake:bool;

  // The gear servo value.
  gear_servo:double;
}

table IndexerGoal {
  // Indexer angular velocity goals in radians/second.
  angular_velocity:double;

  // Roller voltage. Positive is sucking in.
  voltage_rollers:double;
}

table TurretGoal {
  // An angle of zero means the turrent faces toward the front of the
  // robot where the intake is located. The angle increases when the turret
  // turns clockwise (towards right from the front), and decreases when
  // the turrent turns counter-clockwise (towards left from the front).
  // These are from a top view above the robot.
  angle:double;

  // If true, ignore the angle and track using vision.  If we don't see
  // anything, we'll use the turret goal above.
  track:bool;

  // Caps on velocity/acceleration for profiling. 0 for the default.
  profile_params:frc971.ProfileParameters;
}

table HoodGoal {
  // Angle the hood is currently at. An angle of zero is at the lower hard
  // stop, angle increases as hood rises.
  angle:double;

  // Caps on velocity/acceleration for profiling. 0 for the default.
  profile_params:frc971.ProfileParameters;
}

table ShooterGoal {
  // Angular velocity goals in radians/second. Positive is shooting out of the
  // robot.
  angular_velocity:double;
}

table Goal {
  intake:IntakeGoal;
  indexer:IndexerGoal;
  turret:TurretGoal;
  hood:HoodGoal;
  shooter:ShooterGoal;
  lights_on:bool;
  use_vision_for_shots:bool;
}

root_type Goal;