unjam_integral_command.hpp

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/********** !!! WARNING: CODE GENERATED BY TAPROOT. DO NOT EDIT !!! **********/
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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_