chassisControllerIntegrated.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/chassis/controller/chassisController.hpp"
#include "okapi/api/control/async/asyncPosIntegratedController.hpp"
#include "okapi/api/util/logging.hpp"
#include "okapi/api/util/timeUtil.hpp"
 
namespace okapi {
class ChassisControllerIntegrated : public ChassisController {
  public:
  ChassisControllerIntegrated(
    const TimeUtil &itimeUtil,
    std::shared_ptr<ChassisModel> imodel,
    std::unique_ptr<AsyncPosIntegratedController> ileftController,
    std::unique_ptr<AsyncPosIntegratedController> irightController,
    const AbstractMotor::GearsetRatioPair &igearset = AbstractMotor::gearset::green,
    const ChassisScales &iscales = ChassisScales({1, 1}, imev5GreenTPR),
    std::shared_ptr<Logger> ilogger = Logger::getDefaultLogger());
 
  void moveDistance(QLength itarget) override;
 
  void moveRaw(double itarget) override;
 
  void moveDistanceAsync(QLength itarget) override;
 
  void moveRawAsync(double itarget) override;
 
  void turnAngle(QAngle idegTarget) override;
 
  void turnRaw(double idegTarget) override;
 
  void turnAngleAsync(QAngle idegTarget) override;
 
  void turnRawAsync(double idegTarget) override;
 
  void setTurnsMirrored(bool ishouldMirror) override;
 
  bool isSettled() override;
 
  void waitUntilSettled() override;
 
  void stop() override;
 
  ChassisScales getChassisScales() const override;
 
  AbstractMotor::GearsetRatioPair getGearsetRatioPair() const override;
 
  std::shared_ptr<ChassisModel> getModel() override;
 
  ChassisModel &model() override;
 
  void setMaxVelocity(double imaxVelocity) override;
 
  double getMaxVelocity() const override;
 
  protected:
  std::shared_ptr<Logger> logger;
  bool normalTurns{true};
  std::shared_ptr<ChassisModel> chassisModel;
  TimeUtil timeUtil;
  std::unique_ptr<AsyncPosIntegratedController> leftController;
  std::unique_ptr<AsyncPosIntegratedController> rightController;
  int lastTarget;
  ChassisScales scales;
  AbstractMotor::GearsetRatioPair gearsetRatioPair;
};
} // namespace okapi