defaultOdomChassisController.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/chassisControllerIntegrated.hpp"
#include "okapi/api/chassis/controller/odomChassisController.hpp"
#include "okapi/api/chassis/model/skidSteerModel.hpp"
#include "okapi/api/odometry/odometry.hpp"
#include <memory>
 
namespace okapi {
class DefaultOdomChassisController : public OdomChassisController {
  public:
  DefaultOdomChassisController(const TimeUtil &itimeUtil,
                               std::shared_ptr<Odometry> iodometry,
                               std::shared_ptr<ChassisController> icontroller,
                               const StateMode &imode = StateMode::FRAME_TRANSFORMATION,
                               QLength imoveThreshold = 0_mm,
                               QAngle iturnThreshold = 0_deg,
                               std::shared_ptr<Logger> ilogger = Logger::getDefaultLogger());
 
  DefaultOdomChassisController(const DefaultOdomChassisController &) = delete;
  DefaultOdomChassisController(DefaultOdomChassisController &&other) = delete;
  DefaultOdomChassisController &operator=(const DefaultOdomChassisController &other) = delete;
  DefaultOdomChassisController &operator=(DefaultOdomChassisController &&other) = delete;
 
  void driveToPoint(const Point &ipoint,
                    bool ibackwards = false,
                    const QLength &ioffset = 0_mm) override;
 
  void turnToPoint(const Point &ipoint) override;
 
  std::shared_ptr<ChassisController> getChassisController();
 
  ChassisController &chassisController();
 
  void turnToAngle(const QAngle &iangle) override;
 
  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;
 
  void setMaxVelocity(double imaxVelocity) override;
 
  double getMaxVelocity() const override;
 
  ChassisScales getChassisScales() const override;
 
  AbstractMotor::GearsetRatioPair getGearsetRatioPair() const override;
 
  std::shared_ptr<ChassisModel> getModel() override;
 
  ChassisModel &model() override;
 
  protected:
  std::shared_ptr<Logger> logger;
  std::shared_ptr<ChassisController> controller;
 
  void waitForOdomTask();
};
} // namespace okapi