threeEncoderXDriveModel.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/xDriveModel.hpp"
 
namespace okapi {
class ThreeEncoderXDriveModel : public XDriveModel {
  public:
  ThreeEncoderXDriveModel(std::shared_ptr<AbstractMotor> itopLeftMotor,
                          std::shared_ptr<AbstractMotor> itopRightMotor,
                          std::shared_ptr<AbstractMotor> ibottomRightMotor,
                          std::shared_ptr<AbstractMotor> ibottomLeftMotor,
                          std::shared_ptr<ContinuousRotarySensor> ileftEnc,
                          std::shared_ptr<ContinuousRotarySensor> irightEnc,
                          std::shared_ptr<ContinuousRotarySensor> imiddleEnc,
                          double imaxVelocity,
                          double imaxVoltage);
 
  std::valarray<std::int32_t> getSensorVals() const override;
 
  void resetSensors() override;
 
  protected:
  std::shared_ptr<ContinuousRotarySensor> middleSensor;
};
} // namespace okapi