Program Listing for File unjam_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_UNJAM_INTEGRAL_COMMAND_HPP_
#define TAPROOT_UNJAM_INTEGRAL_COMMAND_HPP_

#include <cstdint>

#include "tap/architecture/timeout.hpp"
#include "tap/control/command.hpp"

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

#include "unjam_command_interface.hpp"

namespace tap::control::setpoint
{
class UnjamIntegralCommand : public UnjamCommandInterface
{
public:
    struct Config
    {
        float targetUnjamIntegralChange;
        float unjamSetpoint;
        uint32_t maxWaitTime;
        uint16_t targetCycleCount;
    };

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

    bool isReady() override;

    void initialize() override;

    void execute() override;

    void end(bool interrupted) override;

    bool isFinished() const override;

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

private:
    enum UnjamState
    {
        UNJAM_BACKWARD,
        UNJAM_FORWARD,
        JAM_CLEARED,
    };

    IntegrableSetpointSubsystem& integrableSetpointSubsystem;

    Config config;

    arch::MilliTimeout unjamRotateTimeout;

    uint16_t backwardsCount;

    UnjamState currUnjamState;

    float positionBeforeUnjam;

    bool backwardsCleared;

    bool forwardsCleared;

    void beginUnjamForwards();

    void beginUnjamBackwards();
};

}  // namespace tap::control::setpoint

#endif  // TAPROOT_UNJAM_INTEGRAL_COMMAND_HPP_