Program Listing for File move_absolute_command.hpp

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/*
 * 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_MOVE_ABSOLUTE_COMMAND_HPP_
#define TAPROOT_MOVE_ABSOLUTE_COMMAND_HPP_

#include "tap/algorithms/math_user_utils.hpp"
#include "tap/algorithms/ramp.hpp"
#include "tap/architecture/timeout.hpp"
#include "tap/control/command.hpp"
#include "tap/control/setpoint/interfaces/setpoint_subsystem.hpp"

namespace tap
{
namespace control
{
namespace setpoint
{
class MoveAbsoluteCommand : public tap::control::Command
{
public:
    explicit MoveAbsoluteCommand(
        tap::control::setpoint::SetpointSubsystem* setpointSubsystem,
        float setpoint,
        float speed,
        float setpointTolerance,
        bool shouldAutomaticallyClearJam,
        bool setSetpointToTargetOnEnd);

    const char* getName() const override { return "move absolute"; }

    bool isReady() override;

    void initialize() override;

    void execute() override;

    void end(bool interrupted) override;

    bool isFinished() const override;

protected:
    tap::control::setpoint::SetpointSubsystem* setpointSubsystem;

private:
    float setpoint;

    tap::algorithms::Ramp rampToSetpoint;

    float speed;

    float setpointTolerance;

    uint32_t prevMoveTime;

    bool automaticallyClearJam;

    bool setSetpointToTargetOnEnd;
};  // class MoveAbsoluteCommand

}  // namespace setpoint

}  // namespace control

}  // namespace tap

#endif  // TAPROOT_MOVE_ABSOLUTE_COMMAND_HPP_