AngularVelocityController.h

 
#pragma once
 
#include <memory>
 
#include <units/angle.h>
#include <units/angular_velocity.h>
#include <units/length.h>
#include <units/math.h>
 
namespace rmb {
 
class LinearVelocityController;
 
class AngularVelocityController {
public:
  virtual ~AngularVelocityController() = default;
 
  //***************
  // Motor Control
  //***************
 
  virtual void setVelocity(units::radians_per_second_t velocity) = 0;
 
  virtual units::radians_per_second_t getTargetVelocity() const = 0;
 
  virtual void setPower(double power) = 0;
 
  virtual double getPower() const = 0;
 
  virtual void disable() = 0;
 
  virtual void stop() = 0;
 
  //**********
  // Feedback
  //**********
 
  virtual units::radians_per_second_t getVelocity() const = 0;
 
  virtual units::radian_t getPosition() const = 0;
 
  virtual void setEncoderPosition(units::radian_t position = 0_rad) = 0;
 
  virtual units::radians_per_second_t getTolerance() const = 0;
 
  virtual units::radians_per_second_t getError() const {
    return getVelocity() - getTargetVelocity();
  }
 
  virtual bool atTarget() const {
    return units::math::abs(getError()) < getTolerance();
  }
 
  //*************
  // Conversions
  //*************
 
  using ConversionUnit =
      units::compound_unit<units::meters, units::inverse<units::radians>>;
  using ConversionUnit_t = units::unit_t<ConversionUnit>;
};
 
std::unique_ptr<LinearVelocityController>
asLinear(std::unique_ptr<AngularVelocityController> angularController,
         AngularVelocityController::ConversionUnit_t conversion);
} // namespace rmb