.. _program_listing_file_src_tap_control_turret_subsystem_interface.hpp:

Program Listing for File turret_subsystem_interface.hpp
=======================================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_tap_control_turret_subsystem_interface.hpp>` (``src/tap/control/turret_subsystem_interface.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (c) 2020-2021 Advanced Robotics at the University of Washington <robomstr@uw.edu>
    *
    * This file is part of Taproot.
    *
    * Taproot is free software: you can redistribute it and/or modify
    * it under the terms of the GNU General Public License as published by
    * the Free Software Foundation, either version 3 of the License, or
    * (at your option) any later version.
    *
    * Taproot is distributed in the hope that it will be useful,
    * but WITHOUT ANY WARRANTY; without even the implied warranty of
    * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    * GNU General Public License for more details.
    *
    * You should have received a copy of the GNU General Public License
    * along with Taproot.  If not, see <https://www.gnu.org/licenses/>.
    */
   
   #ifndef TAPROOT_TURRET_SUBSYSTEM_INTERFACE_HPP_
   #define TAPROOT_TURRET_SUBSYSTEM_INTERFACE_HPP_
   
   #include "tap/algorithms/wrapped_float.hpp"
   
   #include "subsystem.hpp"
   
   namespace tap::control::turret
   {
   class TurretSubsystemInterface : public Subsystem
   {
   public:
       explicit TurretSubsystemInterface(Drivers *drivers) : Subsystem(drivers) {}
   
       virtual inline float getYawSetpoint() const = 0;
       virtual inline float getPitchSetpoint() const = 0;
   
       virtual void setYawSetpoint(float newAngle) = 0;
       virtual void setPitchSetpoint(float newAngle) = 0;
   
       virtual const tap::algorithms::WrappedFloat &getCurrentYawValue() const = 0;
   
       virtual const tap::algorithms::WrappedFloat &getCurrentPitchValue() const = 0;
   
       virtual inline bool isOnline() const = 0;
   
       virtual inline float getYawVelocity() const = 0;
       virtual inline float getPitchVelocity() const = 0;
   
       virtual float getYawAngleFromCenter() const = 0;
   
       virtual float getPitchAngleFromCenter() const = 0;
   
       virtual void setYawMotorOutput(float out) = 0;
   
       virtual void setPitchMotorOutput(float out) = 0;
   
       virtual bool yawLimited() const = 0;
   };
   }  // namespace tap::control::turret
   
   #endif  // TAPROOT_TURRET_SUBSYSTEM_INTERFACE_HPP_