143 lines
3.9 KiB
C++
143 lines
3.9 KiB
C++
/*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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#pragma once
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#include "okapi/api/chassis/controller/chassisScales.hpp"
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#include "okapi/api/chassis/model/chassisModel.hpp"
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#include "okapi/api/device/motor/abstractMotor.hpp"
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#include "okapi/api/units/QAngle.hpp"
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#include "okapi/api/units/QLength.hpp"
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#include <memory>
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#include <valarray>
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namespace okapi {
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class ChassisController {
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public:
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/**
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* A ChassisController adds a closed-loop layer on top of a ChassisModel. moveDistance and
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* turnAngle both use closed-loop control to move the robot. There are passthrough functions for
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* everything defined in ChassisModel.
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*
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* @param imodel underlying ChassisModel
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*/
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explicit ChassisController() = default;
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virtual ~ChassisController() = default;
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/**
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* Drives the robot straight for a distance (using closed-loop control).
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*
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* @param itarget distance to travel
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*/
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virtual void moveDistance(QLength itarget) = 0;
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/**
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* Drives the robot straight for a distance (using closed-loop control).
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*
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* @param itarget distance to travel in motor degrees
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*/
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virtual void moveRaw(double itarget) = 0;
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/**
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* Sets the target distance for the robot to drive straight (using closed-loop control).
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*
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* @param itarget distance to travel
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*/
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virtual void moveDistanceAsync(QLength itarget) = 0;
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/**
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* Sets the target distance for the robot to drive straight (using closed-loop control).
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*
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* @param itarget distance to travel in motor degrees
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*/
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virtual void moveRawAsync(double itarget) = 0;
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/**
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* Turns the robot clockwise in place (using closed-loop control).
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*
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* @param idegTarget angle to turn for
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*/
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virtual void turnAngle(QAngle idegTarget) = 0;
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/**
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* Turns the robot clockwise in place (using closed-loop control).
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*
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* @param idegTarget angle to turn for in motor degrees
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*/
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virtual void turnRaw(double idegTarget) = 0;
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/**
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* Sets the target angle for the robot to turn clockwise in place (using closed-loop control).
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*
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* @param idegTarget angle to turn for
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*/
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virtual void turnAngleAsync(QAngle idegTarget) = 0;
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/**
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* Sets the target angle for the robot to turn clockwise in place (using closed-loop control).
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*
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* @param idegTarget angle to turn for in motor degrees
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*/
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virtual void turnRawAsync(double idegTarget) = 0;
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/**
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* Sets whether turns should be mirrored.
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*
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* @param ishouldMirror whether turns should be mirrored
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*/
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virtual void setTurnsMirrored(bool ishouldMirror) = 0;
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/**
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* Checks whether the internal controllers are currently settled.
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*
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* @return Whether this ChassisController is settled.
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*/
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virtual bool isSettled() = 0;
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/**
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* Delays until the currently executing movement completes.
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*/
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virtual void waitUntilSettled() = 0;
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/**
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* Interrupts the current movement to stop the robot.
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*/
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virtual void stop() = 0;
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/**
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* Sets a new maximum velocity in RPM [0-600].
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*
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* @param imaxVelocity The new maximum velocity.
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*/
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virtual void setMaxVelocity(double imaxVelocity) = 0;
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/**
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* @return The maximum velocity in RPM [0-600].
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*/
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virtual double getMaxVelocity() const = 0;
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/**
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* Get the ChassisScales.
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*/
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virtual ChassisScales getChassisScales() const = 0;
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/**
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* Get the GearsetRatioPair.
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*/
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virtual AbstractMotor::GearsetRatioPair getGearsetRatioPair() const = 0;
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/**
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* @return The internal ChassisModel.
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*/
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virtual std::shared_ptr<ChassisModel> getModel() = 0;
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/**
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* @return The internal ChassisModel.
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*/
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virtual ChassisModel &model() = 0;
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};
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} // namespace okapi
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