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