Program Listing for File move_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_COMMAND_HPP_
#define TAPROOT_MOVE_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"
#include "tap/drivers.hpp"

#include "modm/math/filter/pid.hpp"

namespace tap
{
namespace control
{
namespace setpoint
{
class MoveCommand : public tap::control::Command
{
public:
    MoveCommand(
        SetpointSubsystem* setpointSubsystem,
        float targetDisplacement,
        uint32_t moveTime,
        uint32_t pauseAfterMoveTime,
        bool setToTargetOnEnd,
        float setpointTolerance);

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

    bool isReady() override
    {
        return !setpointSubsystem->isJammed() && setpointSubsystem->isOnline();
    }

    void initialize() override;

    void execute() override;

    void end(bool interrupted) override;

    bool isFinished() const override;

private:
    SetpointSubsystem* setpointSubsystem;

    float targetDisplacement;

    tap::algorithms::Ramp rampToTargetValue;

    uint32_t moveTime;

    tap::arch::MilliTimeout minMoveTimeout;

    uint32_t pauseAfterMoveTime;

    float setpointTolerance;

    uint32_t previousMoveTime;

    bool setToTargetOnEnd;
};  // class MoveCommand

}  // namespace setpoint

}  // namespace control

}  // namespace tap

#endif  // TAPROOT_MOVE_COMMAND_HPP_