chassisModel.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/model/readOnlyChassisModel.hpp"
#include "okapi/api/device/motor/abstractMotor.hpp"
#include <array>
#include <initializer_list>
#include <memory>
#include <vector>
 
namespace okapi {
class ChassisModel : public ReadOnlyChassisModel {
  public:
  explicit ChassisModel() = default;
  ChassisModel(const ChassisModel &) = delete;
  ChassisModel &operator=(const ChassisModel &) = delete;
 
  virtual void forward(double ispeed) = 0;
 
  virtual void driveVector(double iforwardSpeed, double iyaw) = 0;
 
  virtual void driveVectorVoltage(double iforwardSpeed, double iyaw) = 0;
 
  virtual void rotate(double ispeed) = 0;
 
  virtual void stop() = 0;
 
  virtual void tank(double ileftSpeed, double irightSpeed, double ithreshold = 0) = 0;
 
  virtual void arcade(double iforwardSpeed, double iyaw, double ithreshold = 0) = 0;
 
  virtual void curvature(double iforwardSpeed, double icurvature, double ithreshold = 0) = 0;
 
  virtual void left(double ispeed) = 0;
 
  virtual void right(double ispeed) = 0;
 
  virtual void resetSensors() = 0;
 
  virtual void setBrakeMode(AbstractMotor::brakeMode mode) = 0;
 
  virtual void setEncoderUnits(AbstractMotor::encoderUnits units) = 0;
 
  virtual void setGearing(AbstractMotor::gearset gearset) = 0;
 
  virtual void setMaxVelocity(double imaxVelocity) = 0;
 
  virtual double getMaxVelocity() const = 0;
 
  virtual void setMaxVoltage(double imaxVoltage) = 0;
 
  virtual double getMaxVoltage() const = 0;
};
} // namespace okapi