basic_flywheel.hpp

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#ifndef FANG_ROBOTICS_MCB_CONTROL_TURRET_SYSTEM_BLUEPRINT_FLYWHEEL_SYSTEM_HPP
#define FANG_ROBOTICS_MCB_CONTROL_TURRET_SYSTEM_BLUEPRINT_FLYWHEEL_SYSTEM_HPP
#include "driver/drivers.hpp"
 
#include "wrap/rail/motor/ispeed_wheel.hpp"
#include "wrap/rail/motor/ispeed_motor.hpp"
#include "wrap/units/units_alias.hpp"
 
namespace fang::turret
{
    class BasicFlywheel:
        virtual public motor::ISpeedWheel
    {
    public:
        using Motor = motor::ISpeedMotor;
        struct Config
        {
            Meters radius;
        };
 
        BasicFlywheel(std::unique_ptr<Motor> motor, const Config& config);
 
        virtual ~BasicFlywheel() = default;
 
        void setTargetRimSpeed(const MetersPerSecond& rimSpeed) override;
 
        void initialize() override;
        void update() override;
    private:
        RPM RimSpeedToMotorSpeed(const MetersPerSecond& rimSpeed) const;
        const MetersPerRadians kRadius_; //This is required for the math to smoothly work
        std::unique_ptr<Motor> motor_;
 
        MetersPerSecond targetRimSpeed_{};
    };
}
#endif