basic_field_pitch_system.hpp

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#pragma once
 
#include "wrap/trap/communication/sensors/iimu.hpp"
#include "wrap/rail/turret/ifield_pitch_system.hpp"
#include "wrap/rail/motor/iposition_motor.hpp"
 
#include "util/math/arithmetic/range.hpp"
 
#include <memory>
 
namespace fang::turret
{
    class BasicFieldPitchSystem : virtual public IFieldPitchSystem 
    {
    public:
        using PitchRange = math::Range<Radians>;
        using Motor = motor::IPositionMotor;
        using Imu = trap::communication::sensors::IImu;
        struct Config
        {
            Radians pitchError;
            PitchRange pitchRange;
        };
 
        BasicFieldPitchSystem
        (
            std::unique_ptr<Motor> motor,
            const Config& config
        );
        void initialize() override;
        void update() override;
 
        void setTargetFieldPitch(const Radians& pitch) override;
    private:
        std::unique_ptr<Motor> motor_;
        const Radians kPitchError_; 
        const PitchRange kPitchRange_;
    };
}