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include/okapi/impl/control/async/asyncPosControllerBuilder.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/asyncPosIntegratedController.hpp"
+#include "okapi/api/control/async/asyncPosPidController.hpp"
+#include "okapi/api/control/async/asyncPositionController.hpp"
+#include "okapi/api/util/logging.hpp"
+#include "okapi/impl/device/motor/motor.hpp"
+#include "okapi/impl/device/motor/motorGroup.hpp"
+#include "okapi/impl/device/rotarysensor/adiEncoder.hpp"
+#include "okapi/impl/device/rotarysensor/integratedEncoder.hpp"
+#include "okapi/impl/util/timeUtilFactory.hpp"
+
+namespace okapi {
+class AsyncPosControllerBuilder {
+  public:
+  /**
+   * A builder that creates async position controllers. Use this to create an
+   * AsyncPosIntegratedController or an AsyncPosPIDController.
+   *
+   * @param ilogger The logger this instance will log to.
+   */
+  explicit AsyncPosControllerBuilder(
+    const std::shared_ptr<Logger> &ilogger = Logger::getDefaultLogger());
+
+  /**
+   * Sets the motor.
+   *
+   * @param imotor The motor.
+   * @return An ongoing builder.
+   */
+  AsyncPosControllerBuilder &withMotor(const Motor &imotor);
+
+  /**
+   * Sets the motor.
+   *
+   * @param imotor The motor.
+   * @return An ongoing builder.
+   */
+  AsyncPosControllerBuilder &withMotor(const MotorGroup &imotor);
+
+  /**
+   * Sets the motor.
+   *
+   * @param imotor The motor.
+   * @return An ongoing builder.
+   */
+  AsyncPosControllerBuilder &withMotor(const std::shared_ptr<AbstractMotor> &imotor);
+
+  /**
+   * Sets the sensor. The default sensor is the motor's integrated encoder.
+   *
+   * @param isensor The sensor.
+   * @return An ongoing builder.
+   */
+  AsyncPosControllerBuilder &withSensor(const ADIEncoder &isensor);
+
+  /**
+   * Sets the sensor. The default sensor is the motor's integrated encoder.
+   *
+   * @param isensor The sensor.
+   * @return An ongoing builder.
+   */
+  AsyncPosControllerBuilder &withSensor(const IntegratedEncoder &isensor);
+
+  /**
+   * Sets the sensor. The default sensor is the motor's integrated encoder.
+   *
+   * @param isensor The sensor.
+   * @return An ongoing builder.
+   */
+  AsyncPosControllerBuilder &withSensor(const std::shared_ptr<RotarySensor> &isensor);
+
+  /**
+   * Sets the controller gains, causing the builder to generate an AsyncPosPIDController. This does
+   * not set the integrated control's gains.
+   *
+   * @param igains The gains.
+   * @return An ongoing builder.
+   */
+  AsyncPosControllerBuilder &withGains(const IterativePosPIDController::Gains &igains);
+
+  /**
+   * Sets the derivative filter which filters the derivative term before it is scaled by kD. The
+   * filter is ignored when using integrated control. The default derivative filter is a
+   * PassthroughFilter.
+   *
+   * @param iderivativeFilter The derivative filter.
+   * @return An ongoing builder.
+   */
+  AsyncPosControllerBuilder &withDerivativeFilter(std::unique_ptr<Filter> iderivativeFilter);
+
+  /**
+   * Sets the gearset. The default gearset is derived from the motor's.
+   *
+   * @param igearset The gearset.
+   * @return An ongoing builder.
+   */
+  AsyncPosControllerBuilder &withGearset(const AbstractMotor::GearsetRatioPair &igearset);
+
+  /**
+   * Sets the maximum velocity. The default maximum velocity is derived from the motor's gearset.
+   * This parameter is ignored when using an AsyncPosPIDController.
+   *
+   * @param imaxVelocity The maximum velocity.
+   * @return An ongoing builder.
+   */
+  AsyncPosControllerBuilder &withMaxVelocity(double imaxVelocity);
+
+  /**
+   * Sets the TimeUtilFactory used when building the controller. The default is the static
+   * TimeUtilFactory.
+   *
+   * @param itimeUtilFactory The TimeUtilFactory.
+   * @return An ongoing builder.
+   */
+  AsyncPosControllerBuilder &withTimeUtilFactory(const TimeUtilFactory &itimeUtilFactory);
+
+  /**
+   * Sets the logger.
+   *
+   * @param ilogger The logger.
+   * @return An ongoing builder.
+   */
+  AsyncPosControllerBuilder &withLogger(const std::shared_ptr<Logger> &ilogger);
+
+  /**
+   * Parents the internal tasks started by this builder to the current task, meaning they will be
+   * deleted once the current task is deleted. The `initialize` and `competition_initialize` tasks
+   * are never parented to. This is the default behavior.
+   *
+   * Read more about this in the [builders and tasks tutorial]
+   * (docs/tutorials/concepts/builders-and-tasks.md).
+   *
+   * @return An ongoing builder.
+   */
+  AsyncPosControllerBuilder &parentedToCurrentTask();
+
+  /**
+   * Prevents parenting the internal tasks started by this builder to the current task, meaning they
+   * will not be deleted once the current task is deleted. This can cause runaway tasks, but is
+   * sometimes the desired behavior (e.x., if you want to use this builder once in `autonomous` and
+   * then again in `opcontrol`).
+   *
+   * Read more about this in the [builders and tasks tutorial]
+   * (docs/tutorials/concepts/builders-and-tasks.md).
+   *
+   * @return An ongoing builder.
+   */
+  AsyncPosControllerBuilder &notParentedToCurrentTask();
+
+  /**
+   * Builds the AsyncPositionController. Throws a std::runtime_exception is no motors were set.
+   *
+   * @return A fully built AsyncPositionController.
+   */
+  std::shared_ptr<AsyncPositionController<double, double>> build();
+
+  private:
+  std::shared_ptr<Logger> logger;
+
+  bool hasMotors{false}; // Used to verify motors were passed
+  std::shared_ptr<AbstractMotor> motor;
+
+  bool sensorsSetByUser{false}; // Used so motors don't overwrite sensors set manually
+  std::shared_ptr<RotarySensor> sensor;
+
+  bool hasGains{false}; // Whether gains were passed, no gains means integrated control
+  IterativePosPIDController::Gains gains;
+  std::unique_ptr<Filter> derivativeFilter = std::make_unique<PassthroughFilter>();
+
+  bool gearsetSetByUser{false}; // Used so motor's don't overwrite a gearset set manually
+  AbstractMotor::GearsetRatioPair pair{AbstractMotor::gearset::invalid};
+
+  bool maxVelSetByUser{false}; // Used so motors don't overwrite maxVelocity
+  double maxVelocity{600};
+
+  TimeUtilFactory timeUtilFactory = TimeUtilFactory();
+  std::shared_ptr<Logger> controllerLogger = Logger::getDefaultLogger();
+
+  bool isParentedToCurrentTask{true};
+
+  std::shared_ptr<AsyncPosIntegratedController> buildAPIC();
+  std::shared_ptr<AsyncPosPIDController> buildAPPC();
+};
+} // namespace okapi