29 lines
940 B
C++
29 lines
940 B
C++
|
/*
|
||
|
|
* 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/control/async/asyncController.hpp"
|
||
|
|
#include <memory>
|
||
|
|
|
||
|
|
namespace okapi {
|
||
|
|
template <typename Input, typename Output>
|
||
|
|
class AsyncPositionController : virtual public AsyncController<Input, Output> {
|
||
|
|
public:
|
||
|
|
/**
|
||
|
|
* Sets the "absolute" zero position of the controller to its current position.
|
||
|
|
*/
|
||
|
|
virtual void tarePosition() = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Sets a new maximum velocity (typically motor RPM [0-600]). The interpretation of the units
|
||
|
|
* of this velocity and whether it will be respected is implementation-dependent.
|
||
|
|
*
|
||
|
|
* @param imaxVelocity The new maximum velocity.
|
||
|
|
*/
|
||
|
|
virtual void setMaxVelocity(std::int32_t imaxVelocity) = 0;
|
||
|
|
};
|
||
|
|
} // namespace okapi
|