y2019/control_loops/superstructure/superstructure_goal.fbs

include "frc971/control_loops/profiled_subsystem.fbs";

namespace y2019.control_loops.superstructure;

table SuctionGoal {
  // True = apply suction
  grab_piece:bool (id: 0);

  // 0 = ball mode
  // 1 = disk mode

  gamepiece_mode:int (id: 1);
}

table Goal {
  // Meters, 0 = lowest position - mechanical hard stop,
  // positive = upward
  elevator:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 0);
  // 0 = linkage on the sprocket is pointing straight up,
  // positive = forward
  intake:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 1);
  // 0 = Straight up parallel to elevator
  // Positive rotates toward intake from 0
  wrist:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 2);

  // Distance stilts extended out of the bottom of the robot. Positive = down.
  // 0 is the height such that the bottom of the stilts is tangent to the
  // bottom of the middle wheels.
  stilts:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 3);

  // Positive is rollers intaking inward.
  roller_voltage:float (id: 4);

  suction:SuctionGoal (id: 5);
}

root_type Goal;