skidSteerModel.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/chassisModel.hpp"
#include "okapi/api/device/motor/abstractMotor.hpp"
#include "okapi/api/device/rotarysensor/continuousRotarySensor.hpp"
 
namespace okapi {
class SkidSteerModel : public ChassisModel {
  public:
  SkidSteerModel(std::shared_ptr<AbstractMotor> ileftSideMotor,
                 std::shared_ptr<AbstractMotor> irightSideMotor,
                 std::shared_ptr<ContinuousRotarySensor> ileftEnc,
                 std::shared_ptr<ContinuousRotarySensor> irightEnc,
                 double imaxVelocity,
                 double imaxVoltage);
 
  void forward(double ispeed) override;
 
  void driveVector(double iySpeed, double izRotation) override;
 
  void driveVectorVoltage(double iforwardSpeed, double iyaw) override;
 
  void rotate(double ispeed) override;
 
  void stop() override;
 
  void tank(double ileftSpeed, double irightSpeed, double ithreshold = 0) override;
 
  void arcade(double iforwardSpeed, double iyaw, double ithreshold = 0) override;
 
  void curvature(double iforwardSpeed, double icurvature, double ithreshold = 0) override;
 
  void left(double ispeed) override;
 
  void right(double ispeed) override;
 
  std::valarray<std::int32_t> getSensorVals() const override;
 
  void resetSensors() override;
 
  void setBrakeMode(AbstractMotor::brakeMode mode) override;
 
  void setEncoderUnits(AbstractMotor::encoderUnits units) override;
 
  void setGearing(AbstractMotor::gearset gearset) override;
 
  void setMaxVelocity(double imaxVelocity) override;
 
  double getMaxVelocity() const override;
 
  void setMaxVoltage(double imaxVoltage) override;
 
  double getMaxVoltage() const override;
 
  std::shared_ptr<AbstractMotor> getLeftSideMotor() const;
 
  std::shared_ptr<AbstractMotor> getRightSideMotor() const;
 
  protected:
  double maxVelocity;
  double maxVoltage;
  std::shared_ptr<AbstractMotor> leftSideMotor;
  std::shared_ptr<AbstractMotor> rightSideMotor;
  std::shared_ptr<ContinuousRotarySensor> leftSensor;
  std::shared_ptr<ContinuousRotarySensor> rightSensor;
};
} // namespace okapi