Initial commit

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