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include/okapi/api/chassis/controller/chassisController.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/controller/chassisScales.hpp"
+#include "okapi/api/chassis/model/chassisModel.hpp"
+#include "okapi/api/device/motor/abstractMotor.hpp"
+#include "okapi/api/units/QAngle.hpp"
+#include "okapi/api/units/QLength.hpp"
+#include <memory>
+#include <valarray>
+
+namespace okapi {
+class ChassisController {
+  public:
+  /**
+   * A ChassisController adds a closed-loop layer on top of a ChassisModel. moveDistance and
+   * turnAngle both use closed-loop control to move the robot. There are passthrough functions for
+   * everything defined in ChassisModel.
+   *
+   * @param imodel underlying ChassisModel
+   */
+  explicit ChassisController() = default;
+
+  virtual ~ChassisController() = default;
+
+  /**
+   * Drives the robot straight for a distance (using closed-loop control).
+   *
+   * @param itarget distance to travel
+   */
+  virtual void moveDistance(QLength itarget) = 0;
+
+  /**
+   * Drives the robot straight for a distance (using closed-loop control).
+   *
+   * @param itarget distance to travel in motor degrees
+   */
+  virtual void moveRaw(double itarget) = 0;
+
+  /**
+   * Sets the target distance for the robot to drive straight (using closed-loop control).
+   *
+   * @param itarget distance to travel
+   */
+  virtual void moveDistanceAsync(QLength itarget) = 0;
+
+  /**
+   * Sets the target distance for the robot to drive straight (using closed-loop control).
+   *
+   * @param itarget distance to travel in motor degrees
+   */
+  virtual void moveRawAsync(double itarget) = 0;
+
+  /**
+   * Turns the robot clockwise in place (using closed-loop control).
+   *
+   * @param idegTarget angle to turn for
+   */
+  virtual void turnAngle(QAngle idegTarget) = 0;
+
+  /**
+   * Turns the robot clockwise in place (using closed-loop control).
+   *
+   * @param idegTarget angle to turn for in motor degrees
+   */
+  virtual void turnRaw(double idegTarget) = 0;
+
+  /**
+   * Sets the target angle for the robot to turn clockwise in place (using closed-loop control).
+   *
+   * @param idegTarget angle to turn for
+   */
+  virtual void turnAngleAsync(QAngle idegTarget) = 0;
+
+  /**
+   * Sets the target angle for the robot to turn clockwise in place (using closed-loop control).
+   *
+   * @param idegTarget angle to turn for in motor degrees
+   */
+  virtual void turnRawAsync(double idegTarget) = 0;
+
+  /**
+   * Sets whether turns should be mirrored.
+   *
+   * @param ishouldMirror whether turns should be mirrored
+   */
+  virtual void setTurnsMirrored(bool ishouldMirror) = 0;
+
+  /**
+   * Checks whether the internal controllers are currently settled.
+   *
+   * @return Whether this ChassisController is settled.
+   */
+  virtual bool isSettled() = 0;
+
+  /**
+   * Delays until the currently executing movement completes.
+   */
+  virtual void waitUntilSettled() = 0;
+
+  /**
+   * Interrupts the current movement to stop the robot.
+   */
+  virtual void stop() = 0;
+
+  /**
+   * Sets a new maximum velocity in RPM [0-600].
+   *
+   * @param imaxVelocity The new maximum velocity.
+   */
+  virtual void setMaxVelocity(double imaxVelocity) = 0;
+
+  /**
+   * @return The maximum velocity in RPM [0-600].
+   */
+  virtual double getMaxVelocity() const = 0;
+
+  /**
+   * Get the ChassisScales.
+   */
+  virtual ChassisScales getChassisScales() const = 0;
+
+  /**
+   * Get the GearsetRatioPair.
+   */
+  virtual AbstractMotor::GearsetRatioPair getGearsetRatioPair() const = 0;
+
+  /**
+   * @return The internal ChassisModel.
+   */
+  virtual std::shared_ptr<ChassisModel> getModel() = 0;
+
+  /**
+   * @return The internal ChassisModel.
+   */
+  virtual ChassisModel &model() = 0;
+};
+} // namespace okapi