chassisController.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/chassisScales.hpp"
#include "okapi/api/chassis/model/chassisModel.hpp"
#include "okapi/api/device/motor/abstractMotor.hpp"
#include "okapi/api/units/QAngle.hpp"
#include "okapi/api/units/QLength.hpp"
#include <memory>
#include <valarray>
 
namespace okapi {
class ChassisController {
  public:
  explicit ChassisController() = default;
 
  virtual ~ChassisController() = default;
 
  virtual void moveDistance(QLength itarget) = 0;
 
  virtual void moveRaw(double itarget) = 0;
 
  virtual void moveDistanceAsync(QLength itarget) = 0;
 
  virtual void moveRawAsync(double itarget) = 0;
 
  virtual void turnAngle(QAngle idegTarget) = 0;
 
  virtual void turnRaw(double idegTarget) = 0;
 
  virtual void turnAngleAsync(QAngle idegTarget) = 0;
 
  virtual void turnRawAsync(double idegTarget) = 0;
 
  virtual void setTurnsMirrored(bool ishouldMirror) = 0;
 
  virtual bool isSettled() = 0;
 
  virtual void waitUntilSettled() = 0;
 
  virtual void stop() = 0;
 
  virtual void setMaxVelocity(double imaxVelocity) = 0;
 
  virtual double getMaxVelocity() const = 0;
 
  virtual ChassisScales getChassisScales() const = 0;
 
  virtual AbstractMotor::GearsetRatioPair getGearsetRatioPair() const = 0;
 
  virtual std::shared_ptr<ChassisModel> getModel() = 0;
 
  virtual ChassisModel &model() = 0;
};
} // namespace okapi