LinearPositionController.h

 
#pragma once
 
#include <memory>
 
#include <units/angle.h>
#include <units/length.h>
#include <units/math.h>
#include <units/velocity.h>
 
namespace rmb {
 
class AngularPositionController;
 
class LinearPositionController {
public:
  virtual ~LinearPositionController() = default;
 
  //***************
  // Motor Control
  //***************
 
  virtual void setPosition(units::meter_t position) = 0;
 
  virtual units::meter_t getTargetPosition() const = 0;
 
  virtual void setPower(double power) = 0;
 
  virtual double getPower() const = 0;
 
  virtual units::meter_t getMinPosition() const = 0;
 
  virtual units::meter_t getMaxPosition() const = 0;
 
  virtual void disable() = 0;
 
  virtual void stop() = 0;
 
  //**********
  // Feedback
  //**********
 
  virtual units::meters_per_second_t getVelocity() const = 0;
 
  virtual units::meter_t getPosition() const = 0;
 
  virtual void setEncoderPosition(units::meter_t position = 0_m) = 0;
 
  virtual units::meter_t getTolerance() const = 0;
 
  virtual units::meter_t getError() const {
    return getPosition() - getTargetPosition();
  }
 
  virtual bool atTarget() const {
    return units::math::abs(getError()) < getTolerance();
  }
 
  using ConversionUnit =
      units::compound_unit<units::meters, units::inverse<units::radians>>;
  using ConversionUnit_t = units::unit_t<ConversionUnit>;
};
 
std::unique_ptr<AngularPositionController>
asAngular(std::unique_ptr<LinearPositionController> linearController,
          LinearPositionController::ConversionUnit_t conversion);
 
} // namespace rmb