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include/okapi/api/chassis/model/threeEncoderSkidSteerModel.hpp

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+/*
+ * 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/chassis/model/skidSteerModel.hpp"
+
+namespace okapi {
+class ThreeEncoderSkidSteerModel : public SkidSteerModel {
+  public:
+  /**
+   * Model for a skid steer drive (wheels parallel with robot's direction of motion). When all
+   * motors are powered +127, the robot should move forward in a straight line.
+   *
+   * @param ileftSideMotor left side motor
+   * @param irightSideMotor right side motor
+   * @param ileftEnc left side encoder
+   * @param imiddleEnc middle encoder (mounted perpendicular to the left and right side encoders)
+   * @param irightEnc right side encoder
+   */
+  ThreeEncoderSkidSteerModel(std::shared_ptr<AbstractMotor> ileftSideMotor,
+                             std::shared_ptr<AbstractMotor> irightSideMotor,
+                             std::shared_ptr<ContinuousRotarySensor> ileftEnc,
+                             std::shared_ptr<ContinuousRotarySensor> irightEnc,
+                             std::shared_ptr<ContinuousRotarySensor> imiddleEnc,
+                             double imaxVelocity,
+                             double imaxVoltage);
+
+  /**
+   * Read the sensors.
+   *
+   * @return sensor readings in the format {left, right, middle}
+   */
+  std::valarray<std::int32_t> getSensorVals() const override;
+
+  /**
+   * Reset the sensors to their zero point.
+   */
+  void resetSensors() override;
+
+  protected:
+  std::shared_ptr<ContinuousRotarySensor> middleSensor;
+};
+} // namespace okapi