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 (id: 0);

  // Caps on velocity/acceleration for profiling. 0 for the default.
  profile_params:frc971.ProfileParameters (id: 1);

  // Voltage to send to the rollers. Positive is sucking in.
  voltage_rollers:double (id: 2);

  // If true, disable the intake so we can hang.
  disable_intake:bool (id: 3);

  // The gear servo value.
  gear_servo:double (id: 4);
}

table IndexerGoal {
  // Indexer angular velocity goals in radians/second.
  angular_velocity:double (id: 0);

  // Roller voltage. Positive is sucking in.
  voltage_rollers:double (id: 1);
}

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 (id: 0);

  // If true, ignore the angle and track using vision.  If we don't see
  // anything, we'll use the turret goal above.
  track:bool (id: 1);

  // Caps on velocity/acceleration for profiling. 0 for the default.
  profile_params:frc971.ProfileParameters (id: 2);
}

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 (id: 0);

  // Caps on velocity/acceleration for profiling. 0 for the default.
  profile_params:frc971.ProfileParameters (id: 1);
}

table ShooterGoal {
  // Angular velocity goals in radians/second. Positive is shooting out of the
  // robot.
  angular_velocity:double (id: 0);
}

table Goal {
  intake:IntakeGoal (id: 0);
  indexer:IndexerGoal (id: 1);
  turret:TurretGoal (id: 2);
  hood:HoodGoal (id: 3);
  shooter:ShooterGoal (id: 4);
  lights_on:bool (id: 5);
  use_vision_for_shots:bool (id: 6);
}

root_type Goal;