y2018/control_loops/superstructure/superstructure_position.fbs

include "frc971/control_loops/control_loops.fbs";

namespace y2018.control_loops.superstructure;

table IntakeElasticSensors {
  // Position of the motor end of the series elastic in radians.
  motor_position:frc971.PotAndAbsolutePosition;

  // Displacement of the spring in radians.
  spring_angle:double;

  // False if the beam break sensor isn't triggered, true if the beam breaker is
  // triggered.
  beam_break:bool;
}

table ArmPosition {
  // Values of the encoder and potentiometer at the base of the proximal
  // (connected to drivebase) arm in radians.
  proximal:frc971.PotAndAbsolutePosition;

  // Values of the encoder and potentiometer at the base of the distal
  // (connected to proximal) arm in radians.
  distal:frc971.PotAndAbsolutePosition;
}


table Position {
  // Values of the series elastic encoders on the left side of the robot from
  // the rear perspective in radians.
  left_intake:IntakeElasticSensors;

  // Values of the series elastic encoders on the right side of the robot from
  // the rear perspective in radians.
  right_intake:IntakeElasticSensors;

  arm:ArmPosition;

  // Value of the beam breaker sensor. This value is true if the beam is
  // broken, false if the beam isn't broken.
  claw_beambreak_triggered:bool;
  // Value of the beambreak sensor detecting when the box has hit the frame
  // cutout.
  box_back_beambreak_triggered:bool;

  // Distance to the box in meters.
  box_distance:double;
}

root_type Position;