ramp.hpp

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#ifndef FANG_ROBOTICS_MCB_TRAP_ALGORITHMS_RAMP_HPP
#define FANG_ROBOTICS_MCB_TRAP_ALGORITHMS_RAMP_HPP
#include "util/chrono/simple_timer.hpp"
 
#include "tap/algorithms/ramp.hpp"
#include "tap/util_macros.hpp"
namespace trap::algorithms
{
    template <typename ValueUnit, typename TimeUnit>
    class Ramp
    {
    public:
        Ramp(ValueUnit initialValue, double rampSpeed)
        :   m_ramp{static_cast<float>(initialValue)},
            m_speed{rampSpeed}
        {
        }
 
        mockable void setTarget(ValueUnit target)
        {
            m_ramp.setTarget(static_cast<float>(target));
        }
 
        mockable ValueUnit getTarget() const
        {
            return ValueUnit{m_ramp.getTarget()};
        }
 
        mockable void setSpeed(double speed)
        {
            m_speed = speed;
        }
 
        mockable void update()
        {
            const TimeUnit deltaTime{static_cast<TimeUnit>(m_updateTimer.getDurationAndReset())};
            const double rawDeltaTime{static_cast<double>(deltaTime)};
            const double increment{m_speed * rawDeltaTime};
 
            m_ramp.update(increment);
        }
 
        mockable ValueUnit getValue() const
        {
            return ValueUnit{m_ramp.getValue()};
        }
 
        mockable bool isTargetReached() const
        {
            return m_ramp.isTargetReached();
        }
 
    private:
        tap::algorithms::Ramp m_ramp;
        double m_speed;
        fang::chrono::SimpleTimer m_updateTimer{};
 
    };
}
#endif