asyncPosIntegratedController.hpp

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/*
 * This Source Code Form is subject to the terms of the Mozilla Public
 * License, v. 2.0. If a copy of the MPL was not distributed with this
 * file, You can obtain one at http://mozilla.org/MPL/2.0/.
 */
#pragma once
 
#include "okapi/api/control/async/asyncPositionController.hpp"
#include "okapi/api/device/motor/abstractMotor.hpp"
#include "okapi/api/util/logging.hpp"
#include "okapi/api/util/timeUtil.hpp"
 
namespace okapi {
class AsyncPosIntegratedController : public AsyncPositionController<double, double> {
  public:
  AsyncPosIntegratedController(const std::shared_ptr<AbstractMotor> &imotor,
                               const AbstractMotor::GearsetRatioPair &ipair,
                               std::int32_t imaxVelocity,
                               const TimeUtil &itimeUtil,
                               const std::shared_ptr<Logger> &ilogger = Logger::getDefaultLogger());
 
  void setTarget(double itarget) override;
 
  double getTarget() override;
 
  double getProcessValue() const override;
 
  double getError() const override;
 
  bool isSettled() override;
 
  void reset() override;
 
  void flipDisable() override;
 
  void flipDisable(bool iisDisabled) override;
 
  bool isDisabled() const override;
 
  void waitUntilSettled() override;
 
  void controllerSet(double ivalue) override;
 
  void tarePosition() override;
 
  void setMaxVelocity(std::int32_t imaxVelocity) override;
 
  virtual void stop();
 
  protected:
  std::shared_ptr<Logger> logger;
  TimeUtil timeUtil;
  std::shared_ptr<AbstractMotor> motor;
  AbstractMotor::GearsetRatioPair pair;
  std::int32_t maxVelocity;
  double lastTarget{0};
  double offset{0};
  bool controllerIsDisabled{false};
  bool hasFirstTarget{false};
  std::unique_ptr<SettledUtil> settledUtil;
 
  virtual void resumeMovement();
};
} // namespace okapi