rotational_snap.hpp

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#pragma once
 
#include <vector>
 
#include "pros/abstract_motor.hpp"
#include "pros/motor_group.hpp"
#include "pros/motors.hpp"
#include "pros/rotation.hpp"
 
namespace light {
 
class RotationalSnap {
 public:
  RotationalSnap(pros::AbstractMotor& motor,
                 pros::Rotation& sensor,
                 std::vector<double> snap_angles_deg,
                 double kP = 1.5,
                 double tolerance_deg = 1.0,
                 int max_snap_speed = 80,
                 int input_deadband = 5);
 
  void update(int manual_input);
 
  void set_snap_angles(std::vector<double> angles_deg);
 
  void set_enabled(bool on);
 
  double get_position_deg() const;
 
  double get_target_deg() const;
 
  bool is_snapping() const { return has_target_; }
 
 private:
  double nearest_snap_(double pos_deg) const;
 
  pros::AbstractMotor& motor_;
  pros::Rotation& sensor_;
  std::vector<double> snaps_;
 
  double kP_;
  double tol_;
  double target_ = 0.0;
  int max_speed_;
  int deadband_;
  bool enabled_ = true;
  bool was_active_ = false;
  bool has_target_ = false;
};
 
}  // namespace light