y2020/control_loops/superstructure/superstructure_position.fbs

include "frc971/control_loops/control_loops.fbs";

namespace y2020.control_loops.superstructure;

table ShooterPosition {
  // Flywheel angle in radians, positive is shooting.
  theta_finisher:double (id: 0);

  // Kicker angle in radians of the slowest (lowest) wheel, positive is
  // accelerating the ball toward the shooter.
  theta_accelerator_left:double (id: 1);
  theta_accelerator_right:double (id: 2);
}

table Position {
  // Zero is at the horizontal, positive towards the front (radians).
  hood:frc971.AbsoluteAndAbsolutePosition (id: 0);

  // Position of the intake. 0 when four-bar is vertical, positive extended.
  intake_joint:frc971.AbsolutePosition (id: 1);

  // See goal for definition of 0
  turret:frc971.PotAndAbsolutePosition (id: 2);

  // Position of the kicker and flywheel
  shooter:ShooterPosition (id: 3);

   // Position of the control panel, relative to start, positive counterclockwise from above.
  control_panel:frc971.RelativePosition (id: 4);

  // Value of the beambreak sensor detecting when
  // a ball is just below the accelerator tower; true is a ball.
  intake_beambreak_triggered:bool (id: 5);
}

root_type Position;