Program Listing for File move_integral_command.hpp

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/*
 * Copyright (c) 2022 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_INTEGRAL_COMMAND_HPP_
#define TAPROOT_MOVE_INTEGRAL_COMMAND_HPP_

#include "tap/algorithms/math_user_utils.hpp"
#include "tap/control/command.hpp"

#include "../interfaces/integrable_setpoint_subsystem.hpp"

namespace tap::control::setpoint
{
class MoveIntegralCommand : public tap::control::Command
{
public:
    struct Config
    {
        float targetIntegralChange;
        float desiredSetpoint;
        float integralSetpointTolerance;
    };

    MoveIntegralCommand(
        IntegrableSetpointSubsystem& integrableSetpointSubsystem,
        const Config& config);

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

    inline bool isReady() override
    {
        return !integrableSetpointSubsystem.isJammed() && integrableSetpointSubsystem.isOnline();
    }

    void initialize() override;

    void execute() override {}

    void end(bool interrupted) override;

    bool isFinished() const override;

protected:
    Config config;

    IntegrableSetpointSubsystem& integrableSetpointSubsystem;

    float finalTargetIntegralSetpoint = 0;

    bool targetIntegralReached() const
    {
        if (config.targetIntegralChange > 0)
        {
            return integrableSetpointSubsystem.getCurrentValueIntegral() >
                   finalTargetIntegralSetpoint - config.integralSetpointTolerance;
        }
        else
        {
            return integrableSetpointSubsystem.getCurrentValueIntegral() <
                   finalTargetIntegralSetpoint + config.integralSetpointTolerance;
        }
    }
};  // class MoveIntegralCommand

}  // namespace tap::control::setpoint

#endif  // TAPROOT_MOVE_INTEGRAL_COMMAND_HPP_